本文關(guān)鍵詞： 微創(chuàng)手術(shù)機(jī)器人 震顫?rùn)C(jī)理 零相位自適應(yīng)模糊卡爾曼濾波器 模糊神經(jīng)網(wǎng)絡(luò)滑�？刂破� 震顫抑制　出處：《天津工業(yè)大學(xué)》2017年碩士論文　論文類(lèi)型：學(xué)位論文

【摘要】：微創(chuàng)外科手術(shù)機(jī)器人具有靈活的自由度、運(yùn)動(dòng)縮放和3D視覺(jué)等優(yōu)點(diǎn),是高新科技與先進(jìn)醫(yī)學(xué)結(jié)合的典型產(chǎn)物。然而,在手術(shù)過(guò)程中,手術(shù)器械末端存在不同程度的震顫現(xiàn)象,降低了手術(shù)器械的運(yùn)動(dòng)精度,影響了手術(shù)質(zhì)量及安全性,增加了如縫合、打結(jié)等精細(xì)動(dòng)作的難度。針對(duì)上述問(wèn)題,本文分析了機(jī)器人震顫產(chǎn)生的主要機(jī)理,提出了相應(yīng)的震顫抑制方法,構(gòu)建了微創(chuàng)手術(shù)機(jī)器人主從控制系統(tǒng)實(shí)驗(yàn)平臺(tái)并進(jìn)行驗(yàn)證。論文的主要研究?jī)?nèi)容如下:首先,本文試圖從醫(yī)生的不光滑操作指令、機(jī)器人動(dòng)力學(xué)行為等角度研究震顫產(chǎn)生的機(jī)理,通過(guò)仿真及實(shí)驗(yàn)得出導(dǎo)致手術(shù)器械末端震顫現(xiàn)象的主要因素。其次,針對(duì)醫(yī)生手部生理震顫現(xiàn)象,提出了基于新型零相位自適應(yīng)模糊卡爾曼濾波器(ZPAFKF)的震顫抑制方法。通過(guò)對(duì)震顫信號(hào)的零相位采集濾波并以相同幅值相反相位實(shí)時(shí)疊加至原始指令信號(hào)中,得到光滑無(wú)生理震顫的理想指令,避免了傳統(tǒng)低通濾波器容易造成有效信息丟失及相位延遲的缺點(diǎn)。再次,針對(duì)微創(chuàng)手術(shù)機(jī)器人動(dòng)力學(xué)行為特別是關(guān)節(jié)內(nèi)非線(xiàn)性摩擦導(dǎo)致的"粘滑行為",提出了基于模糊神經(jīng)網(wǎng)絡(luò)滑�？刂破�(FNNSMC)的震顫抑制方法。在傳統(tǒng)滑模控制器的基礎(chǔ)上,通過(guò)對(duì)各關(guān)節(jié)摩擦力矩的離線(xiàn)辨識(shí)以及神經(jīng)網(wǎng)絡(luò)、模糊邏輯控制器對(duì)無(wú)關(guān)干擾的在線(xiàn)補(bǔ)償,得到平滑的末端運(yùn)動(dòng)軌跡點(diǎn)。避免了傳統(tǒng)PD控制器在低速狀態(tài)下"爬行"及"平頂"現(xiàn)象和傳統(tǒng)滑模控制器在控制律切換時(shí)的"抖振"現(xiàn)象,同時(shí)構(gòu)造李雅普諾夫函數(shù),證明了控制器的穩(wěn)定性。最后,為驗(yàn)證以上兩種震顫抑制方法的有效性,進(jìn)行了仿真和實(shí)驗(yàn)研究。結(jié)果表明,兩種方法能有效地抑制微創(chuàng)手術(shù)機(jī)器人手術(shù)器械末端震顫現(xiàn)象,提高末端點(diǎn)的運(yùn)動(dòng)精度。
[Abstract]:Minimally invasive surgical robot has the advantages of flexible freedom, motion scaling and 3D vision. It is a typical product of the combination of high and new technology and advanced medicine. However, in the process of surgery, there are different degrees of tremor at the end of surgical instruments. The motion accuracy of surgical instruments is reduced, the quality and safety of operation are affected, and the difficulty of fine movements such as suture and knot is increased. In view of the above problems, the main mechanism of robot tremor is analyzed in this paper. The experiment platform of master-slave control system of minimally invasive surgery robot is constructed and verified. The main contents of this paper are as follows: firstly, this paper attempts to use the doctor's non-smooth operation instruction. In this paper, the mechanism of tremor generation is studied from the point of view of robot dynamic behavior, and the main factors leading to the terminal tremor of surgical instruments are obtained by simulation and experiments. Secondly, aiming at the phenomenon of physiological tremor in the doctor's hand, A new method of vibration suppression based on a novel zero-phase adaptive fuzzy Kalman filter (ZPAFKF) is proposed. The zero phase acquisition and filtering of the tremor signal and the real-time superposition of the same amplitude and opposite phase into the original command signal are carried out. The ideal instruction of smooth non-physiological tremor is obtained, which avoids the disadvantages of traditional low-pass filter which can easily lead to the loss of effective information and phase delay. Again, Based on fuzzy neural network sliding mode controller (FNNSMC), a new method for vibration suppression of minimally invasive manipulators, especially the "sticking-slip behavior" caused by nonlinear friction in joints, is proposed. By off-line identification of joint friction torque and neural network, the fuzzy logic controller can compensate the irrelevant disturbance on line. The smooth end motion locus is obtained, which avoids the phenomenon of "crawling" and "flattening" in the low speed state of the traditional PD controller and the "buffeting" phenomenon of the traditional sliding mode controller when the control law is switched. At the same time, the Lyapunov function is constructed. The stability of the controller is proved. Finally, in order to verify the effectiveness of the two methods mentioned above, the simulation and experimental research are carried out. The results show that the two methods can effectively suppress the terminal tremor phenomenon in the surgical instruments of the minimally invasive surgical robot. Improve the kinematic accuracy of the end point.
【學(xué)位授予單位】：天津工業(yè)大學(xué)
【學(xué)位級(jí)別】：碩士
【學(xué)位授予年份】：2017
【分類(lèi)號(hào)】：TP242

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