Research On The Additional Displacement Compensation Of The Master Hand Of The Master-slave Teleoperation Surgical Robot

In recent years,with the rapid development of disciplines such as control theory,sensing technology,and artificial intelligence,teleoperation robots have gradually received more and more attention.Teleoperation surgical robots with force telepresence have been studied by scholars in the world today.In the technology of master-slave teleoperation robots with force sense of telepresence,the actual force perception of the operator(doctor)and the precise position control of the slave manipulator are the key issues to be solved urgently.According to literature research,it is known that there are still major problems in the perception of telepresence and accurate position control of teleoperated surgical robots,and these problems have seriously affected the quality of teleoperated surgical robot surgery and threatened the safety of patients.This paper analyzes and researches the additional displacement problem of the teleoperation robot during the operation,and intends to achieve the purpose of improving the position control accuracy of the teleoperation robot.In order to solve the problem of additional displacement caused by the master manipulator in teleoperation,this paper formulated an additional displacement compensation strategy,established an additional displacement compensation model,and verified it experimentally.The details are as follows:First,the kinematics of the master and slave manipulators were analyzed respectively,and the positive and negative kinematic solutions of the master and slave manipulator were established.The master manipulator's Jacobian matrix was derived.The Lagrangian dynamics modeling method was used to establish the master manipulator dynamics model,and the influence of friction on the system was included in the master manipulator dynamics model.In order to better realize the master-slave control,this paper has linearized the master manipulator dynamics model.Then,in order to achieve better transparency of the teleoperation robot system,a force feedback-position type bidirectional control structure was adopted in this paper.However,this control structure will cause additional displacement at the master manipulator end due to force-position coupling in practical applications.The existence of the additional displacement seriously affects the accuracy of the position control of the slave end.To solve this problem,In this paper,the mass-spring-damping model was selected to simulate the response of the human hand during the remote operation,the internal response of the master manipulator and the interaction between them,and an additional displacement compensation model was established.The control structure constitutes an additional displacement compensation strategy.Finally,the MATLAB software was used to simulate the additional displacement of the telemanipulator's master manipulator,and the laboratory's existing experimental equipment,the master manipulator PHANTo M Desktop and the slave manipulator WAM Arm,were used to build an experimental platform and design related experiments.The obtained experimental data was imported into MATLAB for processing,and finally proved the correctness of the master manipulator's additional displacement compensation strategy.