Research On Control Of Dual-master And Dual-slave Teleoperation Robot Based On Artificial Potential Field

With the development of science and technology,teleoperated robots have gradually begun to be used in the medical field.During the teleoperation operation,because the doctor controls the slave surgical robot arm with a ratio of 1:1 according to the surgical site video,the work efficiency is low,and there is a risk of damage to surrounding tissues and organs caused by the doctor’s misoperation.Aiming at the problems existing in the teleoperation process,the paper designs a master-slave heterogeneous workspace mapping algorithm and a PD controller based on model compensation,and realizes master-slave heterogeneous teleoperation control with force feedback.In order to further improve the efficiency and safety of teleoperation,the teleoperation control under the guidance of virtual attraction and repulsion is realized based on artificial potential field.An experimental platform for a teleoperation surgical robot with dual-master and dual-slave force feedback was built,and the above control algorithm was applied to the teleoperation surgical robot to complete the puncture operation.The main work of this paper is as follows:First,an experimental platform for a dual-master and dual-slave force feedback teleoperation robot was built.The Omni tactile manipulator used for the master robot can feed back the interaction force between the slave manipulator and the surgical site to the operator,and the UR5 manipulator used for the slave manipulator can complete the surgical task.Two Omni haptic manipulators respectively control two UR5 s by teleoperation to realize puncture operation with force feedback.The master-slave communication protocol uses TCP/IP to realize the master-slave data transmission.Secondly,the mathematical model of dual-master and dual-slave teleoperation system is established.Based on the D-H parameter method and Lagrangian method,the kinematics and dynamics models of the master tactile manipulator were established;the kinematics model of the slave manipulator was established,and the inverse solution of the slave manipulator was solved based on the analytical method.Thirdly,a master-slave heterogeneous workspace mapping algorithm and a PD controller based on model compensation are designed to realize the trajectory tracking control of the master-slave heterogeneous teleoperated robot with force feedback.Aiming at the characteristics of different scale coefficients required by the teleoperation surgical robot to complete different surgical tasks,a scale switching mapping algorithm based on the task space of the slave end is designed,which realizes the smooth scale switching of the master and slave robotic arms according to the doctor’s demand for operation accuracy.In order to achieve high presence and precise master-slave trajectory tracking,a PD controller and force feedback controller based on model compensation are designed.The experimental results of simulated teleoperation puncture surgery show that the slave surgical manipulator can accurately track the trajectory of the master haptic manipulator,and the operator can perceive the interaction force between the slave manipulator and the environment through the haptic manipulator.Finally,in order to improve the work efficiency and safety of teleoperation surgery,the paper realizes the teleoperation control under the guidance of virtual gravity and repulsion based on the artificial potential field.The gravitational potential field is constructed at the surgical target point,and the repulsive potential field is constructed in the risky surgical operation area such as the aorta,respectively,to generate virtual attractive force and repulsive force on the slave surgical manipulator.The surgical robotic arm is guided to the lesion position by virtual gravity,and the doctor is ensured to perform surgery in a safe area by virtual repulsion,which improves the efficiency and safety of surgical operations.