本文選題：微創(chuàng)手術機器人 + 力覺臨場感��； 參考：《天津工業(yè)大學》2017年碩士論文

【摘要】：隨著科技進步和社會發(fā)展需求,遙操作機器人技術逐漸成為機器人研究的熱點,并廣泛應用于多個領域。在醫(yī)療領域,主從遙操作機器人系統(tǒng)的力覺臨場感成為了眾多研究者關注的焦點。本文闡述了力覺臨場感的研究現(xiàn)狀,并針對主從式微創(chuàng)手術機器人系統(tǒng)進行分析,指出了其中存在的兩個主要問題:主操作手存在附加反饋力和附加位移。為解決上述問題,本文所做研究工作如下。采用指數(shù)積公式對主從式微創(chuàng)手術機器人系統(tǒng)進行了運動學分析,同時對主操作手Phantom Desktop進行了逆運動學分析,并推導了主從操作手的空間和物體雅可比矩陣,為實現(xiàn)基于模型的力反饋運動控制做了工作鋪墊。利用旋量理論結合拉格朗日方法,并選擇Coulomb+Viscous摩擦模型,從而建立了計及關節(jié)摩擦力的主操作手PhantomDesktop的完整動力學模型。將主操作手的完整動力學模型進行線性化處理后,采用最小二乘法對主操作手動力學參數(shù)進行了實驗辨識,最后通過力矩對比實驗驗證了主操作手動力學模型的正確性和動力學參數(shù)估計的可靠性。分析主操作手附加反饋力和附加位移的產生原因及補償原理,同時提出了相應的附加反饋力和附加位移補償策略。利用現(xiàn)有的設備力反饋主手Phantom DesktOp和萬用機械手臂WAM arm搭建實驗平臺并進行了力反饋實驗,結果表明主操作手的附加反饋力補償方法正確且有效。通過建立操作者的手臂模型和模擬真實反饋力,從而對主操作手附加位移進行了仿真實驗,結果證明了主操作手的附加位移補償策略的正確性。采用二端口網絡模型對主從遙操作機器人系統(tǒng)進行了分析,在此基礎上提出并闡述了系統(tǒng)的三個性能評價指標。分析了主從遙操作機器人系統(tǒng)通用的四通道雙邊控制結構,并介紹了其應用于不同場合的兩種控制結構:基于位置誤差控制和直接力反饋控制。將力位補償控制單元植入直接力反饋控制結構中,組成具有力位補償?shù)倪b操作雙邊控制體系結構,從而為實現(xiàn)主從式微創(chuàng)手術機器人系統(tǒng)中具有精準力反饋的精確位置遙操作奠定了基礎。
[Abstract]:With the development of science and technology and the development of society, teleoperation robot technology has gradually become the focus of robot research, and has been widely used in many fields. In the medical field, the force telepresence of the master-slave teleoperation robot system has become the focus of many researchers. In this paper, the research status of force telepresence is described, and the analysis of master-slave minimally invasive surgical robot system is carried out. Two main problems are pointed out: the additional feedback force and additional displacement of the main manipulator. In order to solve the above problems, the research work done in this paper is as follows. The kinematics of master-slave minimally invasive manipulators is analyzed by exponential product formula, and the inverse kinematics of Phantom Desktop is analyzed. The space and object Jacobian matrices of master-slave manipulators are derived. In order to realize the force feedback motion control based on model, the work is done. By using the spinor theory and Lagrange method, and selecting the Coulomb Viscous friction model, a complete dynamic model of the main manipulator PhantomDesktop with joint friction is established. After linearization of the complete dynamic model of the main manipulator, the dynamic parameters of the main manipulator are identified by the least square method. Finally, the correctness of the dynamic model of the main manipulator and the reliability of the estimation of the dynamic parameters are verified by the torque contrast experiment. The causes and compensation principle of additional feedback force and additional displacement of main manipulator are analyzed, and the corresponding compensation strategies of additional feedback force and additional displacement are put forward. The experiment platform is built by using the existing equipment force feedback master hand Phantom DesktOp and universal manipulator WAM arm. The results show that the additional feedback force compensation method of the main manipulator is correct and effective. By establishing the arm model of the operator and simulating the real feedback force, the simulation experiment of the additional displacement of the main manipulator is carried out, and the results show that the compensation strategy of the additional displacement of the main manipulator is correct. The two-port network model is used to analyze the master-slave teleoperation robot system. On this basis, three performance evaluation indexes of the system are proposed and expounded. This paper analyzes the general four-channel two-sided control structure of master-slave teleoperation robot system and introduces two control structures which are based on position error control and direct force feedback control. The force compensation control unit is implanted into the direct force feedback control structure to form a two-sided control system structure for teleoperation with force position compensation. It lays a foundation for precise position teleoperation with accurate force feedback in master-slave minimally invasive surgery robot system.
【學位授予單位】：天津工業(yè)大學
【學位級別】：碩士
【學位授予年份】：2017
【分類號】：TP242

【參考文獻】

相關期刊論文 前2條

1 戴建生;魏國武;李建民;;國際微創(chuàng)手術機器人的現(xiàn)狀和發(fā)展趨勢[J];機器人技術與應用;2011年04期

2 李群智;王樹新;劉丹;，

本文編號：1788819