| Percutaneous puncture is a common minimally invasive surgery in the clinic.In order to improve the accuracy and stability of the puncture,more and more research institutions in China and abroad have begun to study magnetic resonance compatible puncture robot in recent years,which are used to assist doctors to perform operation under the guidance of real-time magnetic resonance imaging.Compared with other driving methods,the pneumatic drive has the advantages of good magnetic resonance compatibility,high power to mass ratio,clean,simple structure,easy to maintain and so on.The pneumatic driven magnetic resonance compatible puncture robot has become one of the hotspots of research at home and abroad in recent years.In this paper,under the support of the National Natural Science Foundation project,the magnetic resonance compatible pneumatic puncture robot used for abdominal puncture surgery is studied,including robot design,system modeling and control methods.This paper is divided into five chapters,the main contents are as follows:In the first chapter,the background and significance of this topic are expounded,and the important theoretical and practical significance of the study of magnetic resonance compatible pneumatic puncture robot is pointed out,the development history of the robot,the current research status at home and abroad as well as its shortcomings and shortcomings are summarized,and the research of this paper is put forward on the basis of this objectives and research content.In the second chapter,the robot design requirements for intraperitoneal puncture operation are analyzed from the aspects of workspace,structure,material and drive.A pneumatic driven 6 DOF magnetic resonance compatible puncture operation robot is proposed,and the robot driving device,the sensor and the material of the body are selected,and the robot is divided into the robot.The three modules are designed in detail,and the 3D virtual prototype model of the robot is established.At the same time,the key parts of the robot are simulated by the finite element method.Finally,the manufacturing of the robot experiment prototype is completed.In the third chapter,the detailed mathematical model of the magnetic resonance compatible pneumatic puncture robot is established,including the positive and inverse kinematics equations,the dynamic equations of the rotating joints and the moving joints,and the model of the long trachea pneumatic system.The simulation model of the robot is established by using MATLAB/Simulink,and the opening loop experiment of the robot joint is carried out.The accuracy of the model is verified.In the fourth chapter,a robot control strategy based on the clinical operation process is proposed by combining the automatic control with the master slave control.The adaptive robust controller of the robot joint is designed.The adaptive algorithm is used to estimate the unknown parameters in the robot’s joint drive system,and the compensation length of the compensator is estimated by the gain adaptive Smith.The nonlinear robust controller based on the anti step method is used to suppress the parameter estimation error in the joint drive system and the influence of other model uncertainties and interference.Finally,simulations and experiments verify the controller’s performance and gain adaptive Smith predictor compensator compensation effect.The fifth chapter summarizes and summarizes the main contents of this paper,and prospects for future research. |
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