Master-slave Control And Vibration Suppression Research Of The Laparoscope Arm For The Minimally Invasive Abdominal Surgery

Minimally invasive abdominal surgical robot is composed of master hand and slave hand,the slave hand include the laparoscope arm and instrument arm,and the master hand is outsourcing small commercial robot arm,the doctor manipulate the master hand to control the instrument arm or laparoscope arm to complete cutting and sewing up the wound,realizing the adjustment of laparoscope's position and attitude.Owing to the huge volume of mechanical arm in the slave hand and frequent reversing in the motion process,the Vibration of micro instrument and laparoscope in the mechanical arm's end is produced.Aim at the laparoscope arm system designed by the laboratory,the adjustment of laparoscope's position and attitude is realized using the method of master-slave control,and the active vibration suppression method is studied using piezoelectric ceramics as actuator.First,the total plan is designed.Aim at the master-slave control of the laparoscope arm,the mapping mode of the position and attitude between the end of master hand and laparoscope is analyzed,and the key problem that need to be solved according to the medical surgical scene is proposed,establishing the overall scheme.Aim at the active vibration suppression of laparoscope,the vibration of laparoscope caused by the start-up,motion and stop stages of the laparoscope arm is suppressed using the piezoelectric ceramics,and the general scheme is designed.And the hardware in above scheme is introduced succinctly.Then,aim at the master-slave control of the laparoscope arm,the kinematic models of laparoscope arm and Phantom Omni are established,the control strategy that conclude mapping relationship of incremental position and absolute attitude respectively is established,the control algorithm of incremental position based on base coordinate system and tool coordinate system is researched and analyzed,the key problems that include data communication mode,scale mapping,quadratic mapping and speed limit are analyzed,the motion control programs of laparoscope arm are compiled,the solution of master-slave control based on LabVIEW and MATLAB/Simulink software is established finally,realizing the adjustment of laparoscope's position and attitude.Next,aim at the active vibration suppression of laparoscope,the rationality of scheme is validated in the MATLAB/Simulink.The laparoscope is simplified into the flexible arm of hollow cylinder,and the vibration response equations of flexible arm under the excitation of hammer,vibrator and piezoelectric ceramics are established.The conventional PID controller and Fuzzy adaptive PID controller under the excitation of piezoelectric ceramics are built,suppressing the vibration of flexible arm caused by the excitation of hammer and vibrator.The effect of vibration suppression is obvious,validating the feasibility of scheme.Last,the experimental station of master-slave control using the Phantom Omni and laparoscope arm is built.Aim at the master-slave control of the base coordinate system,the correctness of the scale mapping algorithm,quadratic mapping algorithm and speed limit algorithm are validated,the consistency of position and attitude between Phantom Omni's end and laparoscope is realized.Aim at the master-slave control of the tool coordinate system,the consistency of position and attitude between Phantom Omni's end and laparoscope's windows is realized,providing the best field of surgical operation for the doctor.