Research On Master-slave Intuitive Operation Algorithm And Singularity Of Hand-eye Calibration For Surgical Robot

In order to improve the Minimally Invasive Surgery(MIS),Endoscope-assisted Surgical Robot(EASR)came into being,which can not only restore the hand-eye coordination but also achieve finer surgical procedures.Recently,with the increasing of requirement for the medical quality,EASR is gaining more and more attentions among patients,and the related technologies are also gradually becoming the hot topic in the field of robotic research.For those reasons,this paper will focus on the technology associated with EASR,especially for the master-slave intuitive operation mapping model,optimal selection of measurement configurations for kinematic calibration as well as singularity analysis of the hand-eye calibration problem.Firstly,for the EASR with open console,the mapping model of master-slave intuitive operation has been studied.A novel slave robot dissatisfying the Pieper Rule is introduced,whose forward and inverse kinematics are established by modified D-H method and verified by the Simulink module of Matlab software.Additionally,the singular configuration corresponding to the inverse kinematics is provided.Based on hand-eye coordination,a suitable mapping model of the master-slave intuitive operation is also put forward for the EASR with open console,which includes position increment scaling algorithm and absolute orientation consistent algorithm.Secondly,a novel observability index based on the generalized mean of matrix is put forward after optimal selection of measurement configurations for kinematic calibration has been conducted on the slave robot.Then,the relationship between the existing and the proposed observability indexes has also been further studied.Considering that the available measurement configurations of searching space are discrete,a modified Particle Swarm Optimization(MPSO)has been introduced for the optimal pose selection problem.In addition,there are two significant situations encountered during the searching procedure,namely,the order of the kinematic error parameters and the sequence of different elements in the same particle.Through exploring the nature of those two phenomena,it can be demonstrated that the observability index and searching algorithm would still be feasible with respect to those two phenomena.Then,for the hand-eye calibration problem of the slave robot,the singularity analysis of the existing closed-form solutions and the non-singular solutions are studied.In order to find the common singular phenomenon,a novel criterion is put forward to detect when the singularity would undoubtedly occur.Consequently,a singular-free analytical solution based on Quaternion parameters is proposed in this paper.When the rotational angle of the unknown hand-eye matrix is equal to ?radian,the unique singularity associated with the analytical solution based on the modified Rodrigues parameters has been considered.As a result,a singular-free closed-form solution based on the modified sequential rotation theory is proposed and verified.When the rotational errors associated the measurement data are with little level,the unique singularity belonging to the analytical solution based on the orthogonal dual tensor parameter has also been further studied.Hence,a novel singular-free solution on the basis of the Principle of Transference is also introduced for the hand-eye calibration problem.Finally,a novel EASR has been established and tested for different kinds of experiments.For the robot equipped with surgical instrument,the experiment of the optimal pose selection for the kinematic calibration has been conducted in order to verify the feasibility of the proposed MPSO algorithm and the observability index.According to the measured data,the experiment for the hand-eye calibration is also conducted for demonstrating the existing of the singularity and evaluating the feasibility of the proposed non-singular closed-form solutions.Eventually,the proposed mapping model for master-slave intuitive operation has been verified by the experiment of transferring colorful beads and the threading experiment for laparoscopic surgery training.