| Puncture robot is a typical minimally invasive surgical robot,which is designed as an auxiliary tool to expand the surgical ability of doctors.The puncture operation robot is usually controlled by master-slave teleoperation.The doctor operates the master hand equipment to perform the operation,and the information of the operation is sent to the robot after data processed by the computer,and then the robot manipulates the puncture needle to perform the operation according to the doctor’s intention.Robot-assisted puncture surgery can effectively eliminate the influence of hand shaking and reduce the working intensity of doctors,so as to improve the accuracy and stability of puncture and improve the patient’s diagnosis and treatment effect.In this paper,the master-slave teleoperation control is studied on the basis of the pneumatic puncture robot prototype which has been built by the research group.The prototype of the magnetic resonance compatible pneumatic puncture robot was optimized,and the measurement and control system of the robot was transformed.The mathematical models of each driving joint of the magnetic resonance compatible pneumatic puncture robot were established,and the pressure attenuation and delay caused by the introduction of long trachea in the pneumatic servo system were mainly studied.The long pneumatic tube was modeled and the validity of the model was verified by experiments.On this basis,a robust controller with long pneumatic tube compensation is designed for each driving joint of the robot,and the effectiveness of the controller and the long pneumatic tube compensation method is verified by experiments.A master-slave control method for teleoperation robot using Novint Falcon master manipulator is studied.Firstly,the kinematics analysis of the master hand device and the signal extraction of the terminal position coordinates of the master manipulator device are completed.Then,the inevitable physiological flutter of human hands when operating the main hand equipment is analyzed,and a flutter filtering method based on adaptive noise cancellation is proposed.Finally,a master-slave motion mapping model based on position and pose separation was established,and a bidirectional teleoperation control strategy including position and force closed loops was constructed.The experimental platform transformation of the magnetic resonance compatible pneumatic puncture surgery robot was completed,and the master-slave teleoperation control experiment was carried out to verify the effectiveness of the control strategy,and the adjustment and optimization of the system model and controller parameters were completed.In order to verify the effectiveness of the proposed bidirectional teleoperation control strategy,a master-slave teleoperation control experiment of a magnetic resonance compatible pneumatic puncture surgical robot was developed.The humanmachine interaction between Simulink and d SPACE was realized by RS232,and the master-slave experiment of puncture surgery robot was carried out.There are 80 pictures,1 table and 85 references in this paper. |
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