System Design And Kinematics Research On Surgical Robotic Master Manipulator

In recent years,with the rapid development of science and technology,people's living standard and self-care sense constantly raising,people's demand for medical technology becomes higher and higher.And robots for its security,stability,accuracy and other notable advantages are widely recognized by the medical field,industry and patients.Robots are used in minimally invasive spine surgery(MISS),which can greatly improve the accuracy of surgery,ensure repeat-precision and avoid harm to medical practitioners because of cumulative significant X-ray radiation during surgery.The master manipulator is an important part of minimally invasive spine surgery robot,is an essential carrier of master-slave teleoperation system,its control accuracy,flexibility and precision for the force feedback can significantly improve the quality of surgery.Therefore,research on master manipulator of minimally invasive spine surgery robot with feedback device is very important for promoting the force feedback theoretical development of surgical robotics and tele-robotics.The main content of this article,including:Firstly,the research status at home and abroad of master-slave surgical robot and force feedback master manipulator is introduced.Through these presentations can have the knowledge of structure,theory,control method and others of force feedback operating device,make clear the problems should be noticed of the master manipulator during force feedback control.Secondly,kinematics for force feedback master manipulator of minimally invasive spine surgery robot is analyzed.Using optimal method of analytic geometry to solve Delta forward kinematics of parallel mechanism,and compare and verify with the SolidWorks driving value;using analytical method to inverse operate Delta kinematics of parallel mechanism,and compare and verify with the SolidWorks driving value.Using the D-H method to analyze the whole kinematics of master manipulator structure,and the accuracy of direct and inverse solution are validated by the simulation.Then,on this basis,analyzing the workspace of this structure and using algebraic method to solve Jacobian matrix of parallel mechanism,which provides the theory foundation for flexibility of device,analyzes error source and establishes accurate error models for kinematic calibration.Finally,the master manipulator control system is designed.We obtained accurate data on the six-axis force/torque sensors by using serial communication;designed the simple Human Machine Interface for debugging and parameter setting by combining Qt and VS2008;completed real-time communication between master and slave manipulators,achieved information exchange between master and slave manipulators;and integrate all modules under QNX real-time operating system to complete the design of the whole control system of master manipulator.