Research On Power-assist Control And Force Feedback Of Integrated Surgical Robot

With the development of social economy and medical technology,minimally invasive surgical robot develops rapidly and has a broad market prospect.The force feedback function can enhance the operator’s feeling of presence,reduce misoperation and shorten the operation time.The surgical robot with force feedback function is the current research hotspot.In this paper,the integrated surgical robot is taken as the research object,and a set of power assist system is designed to achieve direct force feedback at the same time.The main contents are as follows:Research on master hand feedback of integral surgical robot.The kinematic analysis of the operating main hand verifies that the main hand can meet the requirements of operating comfort.Lagrange method was used to establish the dynamics model of the main hand,and Adams was used to simulate the dynamics.The correctness of the dynamics model was verified by comparing the results of calculation and simulation.The relationship between the operating torque and the resistance torque is analyzed,and the theoretical output power torque of each DOF powerassist motor is obtained based on the calculation results of the dynamic model.Research on control algorithm of power assisted motor.Permanent magnet synchronous motor is chosen as power motor and vector control is used as control algorithm.The mathematical model of permanent magnet synchronous motor is constructed,and the vector control principle is studied and simulated in detail.The simulation results show that the vector control has fast response and stable output,which is suitable for power motor control scheme.Experimental research on power assist and force feedback performance of surgical robot.A set of power-assist system is designed.Taking the telescopic degree of freedom of the instrument rod as the experimental object,the working performance of the system was tested.Including system response speed experiment and power and force feedback performance experiment.The experimental results show that the average response time of the designed system is 236.4ms.With the assistance of the power system,the operator can operate easily and have a direct force feedback perception of the force from the end.The feasibility of force feedback of integrated surgical robot through power system is verified.69 figures,12 tables,52 references...