| Minimally invasive surgical robot is a significant combination of minimally invasive surgery and robotic technology,which promotes the innovation and development of the whole minimally invasive surgical field.Compared with traditional minimally invasive surgery,minimally invasive surgical robot can solve key problems such as hand-eye incoordination,operator hand shaking and doctor fatigue during surgical operation,thus improving the efficiency,safety and comfort of surgery.In the field of minimally invasive surgical robot,single-hole minimally invasive surgical teleoperation robot is a frontier and popular research direction.Single hole minimally invasive surgery teleoperation robot has shown great advantages in reducing surgical bleeding and reducing patients’ pain,so it has very important research significance.In this context,our research group independently developed a single hole minimally invasive surgery teleoperation robot.Taking this robot as the research object,the kinematic model,teleoperation control strategy,robot control system platform,robot collision and obstacle avoidance and other aspects of the content are deeply studied.The main research contents are as follows:Firstly,based on the principle of spatial coordinate transformation,this paper deduces the appropriate and correct kinematic model of single-hole minimally invasive teleoperation robot.The kinematic model includes the motion mapping relationship among the three motion Spaces of wire rope transmission space,joint space and robot end workspace,so as to obtain the transformation relationship between the change of wire rope length and robot end pose,which lays a foundation for the subsequent research.In addition,the workspace of the slave hand is also analyzed to ensure that it meets the requirements of minimally invasive surgery.Then,aiming at the master-slave pose control of the teleoperation robot in single-hole minimally invasive surgery,based on the construction of master-slave coordinate system,the paper designs the master-slave attitude consistent control strategy,master-slave position incremental control strategy and master-slave proportional scaling control strategy respectively.In addition,the above control strategies are integrated to design the overall control process of the single hole minimally invasive surgical teleoperation robot,ensuring that the slave hand of the single hole minimally invasive surgical teleoperation robot can correctly restore the operator’s hand movements.Secondly,the hardware and software platforms of a single hole minimally invasive surgical teleoperation robot are designed.In terms of hardware platform,the program of "upper computer and lower computer" hardware platform is adopted.In terms of software platform,the software platform is divided into three levels,namely,the interactive layer of adult computer,the operational control layer and the device action layer,and each level is designed in detail,which lays a solid foundation for the practical application of single-hole minimally invasive surgery teleoperation robot.Furthermore,aiming at the collision and obstacle avoidance problems of teleoperation robot,a new collision risk quantitative model including distance,speed and some indirect factors is proposed in this paper,which can quantify the current collision situation of robots more accurately and comprehensively.Based on the above research,this paper also innovatively proposes a set of multi-level automatic obstacle avoidance strategies suitable for teleoperation robot,which can make the obstacle avoidance of teleoperation robot more reasonable and effective.Corresponding experiments are designed to verify the correctness and effectiveness of the collision risk quantization model and the automatic obstacle avoidance strategy.Finally,experimental researches are conducted.The correctness of the forward and inverse kinematics model of the slave hand of the single hole minimally invasive surgical teleoperation robot proposed is verified by designing relevant experiments.The master-slave teleoperation pose control experiment,master-slave teleoperation scale control experiment and master-slave teleoperation control semi-physical simulation experiment are carried out by using the established experimental platform.The experimental results show that the maximum error of the displacement of the master-slave end in all three directions of xyz is less than 2 mm,and the maximum error of the RPY attitude angle of the master-slave end is within 0.11 rad.The above results demonstrate the correctness and effectiveness of the control strategy for a single hole minimally invasive surgical teleoperation robot. |
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