The Control Algorithm For The Surgical Teleoperation System Based On The Combination Of PID And Robust Adaptive Control

For master-slave teleoperation robot,the accuracy of the master-slave trajectory tracking,stability and force feedback fidelity are the three most important performance indicators.In this paper,a teleoperation control algorithm based on the combination of PID and robust adaptive is proposed,which can completely feedback the interaction between surgical instruments and tissues to doctors and achieve stable and accurate master-slave trajectory tracking control.Because of the heterogeneity of the master-slave manipulator in the teleoperation system designed in this paper,in order to make the doctor have a better intuition in the operation process,the position controlled of the master-slave manipulator in Cartesian space.In the master,the end displacement of the master manipulator transmitted through the network to the slave as the command signal of the trajectory of the slave manipulator.The inverse kinematics is solved in the slave to obtain the command signal of the joint displacement.Under the control of the combination of PID and robust adaptive,the stable and accurate master-slave trajectory tracking is realized.In order to enable doctors to feel the interaction between surgical instruments and tissues vividly,a 6 dimensional force sensor is used to measure the interaction between surgical instruments and tissues from the slave,which is transmitted to the master and acted on the hands of doctors through a tactile manipulator.In view of the existence of multiple solutions in the analytical solution of the manipulator,three methods for selecting the inverse solution are proposed,and a method for selecting the optimal performance is applied to practice.Aiming at the problem of low readability of the dynamic model deduced by Lagrange principle,a practical simplification algorithm is proposed to simplify the analytical expression of the dynamic model.Experiments show that the simplification algorithm can effectively improve the readability of the dynamic model and reduce the storage space by 70%.Through in-depth analysis of Jacobian matrix,the singular condition expression of Jacobian matrix of slave manipulator is obtained and applied to the teleoperation system designed in this paper.In order to overcome the uncertainties of the parameters of the slave dynamic model and improve the stability and accuracy of the master-slave trajectory tracking,this paper presents a control algorithm for teleoperation robot,which combines PID with robust adaptive.It has been successfully applied to the teleoperation robot system,and simulates the teleoperation surgery with time-varying delay.The experimental results show that in the without delay,fixed delay,time-varying delay the slave manipulator can stably and accurately follow the trajectory of the master tactile manipulator.At the same time,the operator can feel the interaction between the surgical instruments and tissues vividly.