Modeling And Analysis Of Motion Error Of Master-slave Surgical Robot

The geometric error of the surgical robot due to manufacturing and assembly,as well as the movement error converted into the robot movement process,causes the actual position of the surgical robot’s end-effector to deviate from the theoretical position,thereby bringing accuracy during surgery A great hidden danger.In order to solve this problem,it is necessary to study the motion of the surgical robot and the error generated during the motion,so as to give certain compensation in the control and feedback system.In order to ensure the reliability of the surgical robot in the working process,the movement of the slave hand of the surgical robot should conform to the movement of the master hand controlled by the doctor.Therefore,it is particularly important to analyze and study the movement model of the surgical robot and its movement error model.In the development of surgical robots,the motion error model of the surgical robot must be close to the actual error model in order to make the developed surgical robot have higher reliability,thereby improving the surgical accuracy.Moreover,the research of error model and related reliability research can also provide theoretical basis for the design,development and improvement of robots.This article takes a domestic minimally invasive laparoscopic surgical robot as the research object,and conducts in-depth research on the motion accuracy of the surgical robot.The main research work of this paper is as follows:(1)First,take the driven instrument arm of the minimally invasive laparoscopic surgical robot as the research object.According to the relevant theoretical basis of system reliability,launch FMEA and FTA to find out all possible failure modes of the research object and find out the risk ratio.High failure mode.(2)In order to study the mechanism of the failure mode of the surgical robot,the traditional D-H model is applied to the master hand and the slave hand of the robot,and the position vector and posture vector of the master hand and the slave hand end are obtained.Use Monte Carlo simulation to get the working space of the main hand.Analyze the mapping relationship between the master hand and the slave hand to lay the foundation for the construction of the following error model.(3)In order to make the modeling,calculation and analysis of robot pose errors more convenient,the standard DH model is improved,and various error sources are no longer subdivided or modeled one by one,but they are transformed and integrated Into the DH parameter error of the connecting rod of the robot.The error model of the surgical robot is established,and the position and posture errors of the master hand and the slave hand are calculated respectively.(4)Aiming at the error model of the robot’s master and slave hands,Monte Carlo simulation is used to analyze the error distribution space and error matching of the surgical robot,and evaluate the reliability of the motion accuracy index.