Research On Modeling And Motion Control Technology Of Flexible Arm System Of Thyroid Minimally Invasive Surgery Robo

Modern minimally invasive surgery has the advantages of reducing surgical trauma and shortening postoperative recovery time.With the support of National Key R&D Program Project 3 "Intelligent intracavitary double-hole flexible arm and compliant control technology research and system development",this paper completed the design of the minimally invasive thyroid surgery robot,and carried out the configuration design and The software and hardware of the control system are built,the kinematic modeling and workspace analysis of the slave arm were carried out,the master-slave control strategy was studied,and finally the experimental prototype was built and experimental research was carried out to verify the system performance.First,the system design of the thyroid minimally invasive surgical robot was carried out.Focus on the two configuration designs of the slave arm.The first design used rigid hinged joints in series,and the second used multiple rigid hinged joints to stack orthogonally on the wrist to form a flexible continuum.configuration to further enhance flexibility.Based on the analysis of the configuration design and functional requirements of the slave arm,the component selection of the drive system was completed.The hardware and software framework of the control system was built.Secondly,for the two configuration designs of the slave arm,the kinematics modeling was carried out based on the principle of triple space mapping,and the standard D-H parameter method was used to connect the rigid articulation joints in series,and the mapping model from the joint space to the working space is established.,the kinematics modeling of the wrist flexible continuum configuration with multi-rigid joints stacked orthogonally was completed by using the constant curvature model.The principle of closed-loop wire transmission was analyzed,and the problem of single-joint closed-loop wire drive and multijoint kinematic coupling is solved.Based on the particle swarm optimization algorithm,the parameter identification of the wire drive model was carried out,which further improves the control accuracy of the slave arm.Then,the master-slave control method was studied.Aiming at the problem of masterslave heterogeneity in the structure of thyroid minimally invasive surgery robots,an incremental master-slave heterogeneous control strategy based on Cartesian space was proposed,and simulation experiments were designed and verified.Master-slave consistency.The relevant functions of master-slave control were developed,the master hand shake filter function was studied to eliminate the physiological shake of the operator’s hand,and the master-slave safety limit was researched to improve the safety of surgical operations.Finally,based on the constructed robot prototype for minimally invasive thyroid surgery,an experimental study was carried out.The single-joint motion accuracy measurement experiment and the multi-joint motion decoupling experiment were completed,which proved that the slave arm has precise motion control performance.The visual angle measurement method of the joint was studied,which was used for the joint angle processing when the parameter error identification of the wire-driven model was used.The magnetic navigation equipment and the optical navigation equipment were used to carry out the measurement experiment of the end repeat positioning accuracy to verify.For the proposed incremental master-slave heterogeneous control method based on Cartesian space,masterslave trajectory drawing and ring grasping experiments were carried out to verify that the thyroid minimally invasive surgical robot has good master-slave control performance.