基于腹腔微创手术机器人的主从控制技术研究

Master-slave Control Technology Research Based on Abdominal Minimally Invasive Surgery Robot

  • 摘要: 根据机器人辅助腹腔微创手术任务的特点,采用高性能工业计算机为平台,构建以PCI总线方式通讯、功能可扩展的硬件结构,设计手术机器人主从控制系统.针对传统的基于运动学反变换法的主从控制存在超越函数和存在多解而影响主从响应速度的问题,基于等效微分变换法,提出适合手术机器人的实时主从控制算法.设计了适合手术机器人实时主从控制的实时快速轨迹规划方法,解决经典轨迹规划方法需要预知运动轨迹、离线计算的问题.通过设计数字滤波器,对主手信号进行二次滤波,消除了手术医生手部抖动对手术机器人精度的影响.

     

    Abstract: Based on the characteristics of abdominal minimally invasive robotic surgical tasks,a master-slave control system is designed,which uses a high-performance industrial computer as the platform,and an extended multifunctional board with PCI-bus communication as hardware.In order to solve the problem of low responsivity caused by traditional inverse kinematics transformation method for its multiple solutions and transcendental functions,an algorithm based on equivalent differential transformation suitable for real-time master-slave surgical robot is put forward.A fast real-time trajectory planning method for the master-slave surgical robot real-time control is put forward to solve the problem of trajectory prediction and off-line calculation of traditional methods.Finally,in order to avoid the impact on the accuracy of the system caused by hand-trembling of operators,a digital secondary filter is designed to filter the signal of the master manipulator.

     

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