Design Of Visual And Tactile Feedback System Based On Continuum Surgical Robot

Minimally invasive surgery has the smallest possible incision compared to traditional surgery.Minimally invasive surgery can reduce the damage of homeostasis of internal environment and reduce the damage of visceral tissues and organs,and on this basis,it can guarantee the same or better therapeutic effect as traditional surgery.Based on these advantages,minimally invasive surgery is increasingly replacing open surgery.However,in minimally invasive surgery,the surgeon’s field of vision and the working space of surgical tools are restricted to some extent due to non-contact anatomy.This severely affects the surgeon’s hand-eye coordination and makes minimally invasive surgery difficult to learn and master.This has greatly hindered the popularization and promotion of minimally invasive surgery.Robotics has played an increasingly important role in the field of medicine over the past decade.Robotassisted minimally invasive surgery can help doctors pinpoint the location.Minimally invasive surgical robots provide physiological tremor filters and address the problems of fatigue and hand instability that affect surgical quality.The master-slave remote control function of robot can make doctors work in an environment unfavorable to human body,so robot-assisted medical treatment has a huge application prospect in minimally invasive surgery.At present,robot-assisted minimally invasive surgery has been verified in clinic.Since the Da Vinci robot was approved by the FDA,several papers have been published on robot-assisted surgery.The Da Vinci robot overcomes many of the limitations of laparoscopic surgery.This demonstrates not only the operability of this technique but also the safety of robot-assisted minimally invasive surgery.However,the current minimally invasive surgical robot system still has a great space for development.Although surgeons can empirically compensate for tactile feedback with visual feedback,the absence of force feedback still has a significant impact on surgical quality and efficiency.To solve this problem,this paper proposed a tactile sensor based on vision,and combined with tactile feedback equipment to perform force rendering for the perceived force.Combined with the continuum manipulator structure,the tactile feedback device end-effector can control the motion of the continuum robot.This paper focuses on the continuum robot with force feedback,mainly in the following three aspects:（1）A novel visual tactile feedback sensor system is proposed.The hardware structure and data acquisition device are designed.A feature extraction algorithm is proposed.The fitting effects of different machine learning algorithms on data sets are compared.The hardware structure and software parameters are optimized in the experiment.The balance between accuracy and robustness is considered in the selection of the number of marker points.The effects of infrared illumination,probe diameter and probe length on sensor range are analyzed.The influence of multilayer neural network structure on model accuracy is analyzed in detail.（2）The remote control function of haptic feedback device for continuum manipulator is developed.The Open Haptics toolkit for haptic feedback devices needs to be called in C++.The main board of the continuum manipulator communicates with the upper computer through C++ serial communication.The main board of the manipulator is MKS GEN＿L V2.1.The burned firmware is marlin1.1.8.The command instruction is G code.Through practical operation,the corresponding relationship between G code instruction and deformation of continuum manipulator is understood.The displacement of the tactile feedback end-effector is converted into the G code instruction relative to the manipulator.（3）Force rendering of the force perceived by the visual tactile sensor.When the haptic feedback device controls the movement of the robotic arm,the probe at the end of the arm moves with it.When in motion,the probe touches the object.The probe will deform.The visual tactile sensor converts the deformation into sensory information and transmits it to the haptic feedback device.At this point,the haptic feedback device senses the force applied to the end of the arm.