發(fā)布時(shí)間：2018-06-13 03:51

  本文選題：導(dǎo)管機(jī)器人 + 運(yùn)動(dòng)學(xué)�。� 參考：《南京航空航天大學(xué)》2017年碩士論文

【摘要】：介入手術(shù)導(dǎo)管機(jī)器人作為一種新型的醫(yī)療機(jī)器人,在醫(yī)學(xué)技術(shù)和醫(yī)療設(shè)備不斷進(jìn)步的今天,得到了快速的發(fā)展。導(dǎo)管機(jī)器人的研究,解決了傳統(tǒng)介入手術(shù)中存在的導(dǎo)管導(dǎo)絲可控性差、手術(shù)難度較高、手術(shù)效果不佳以及手術(shù)環(huán)境存在大量輻射等問題,實(shí)現(xiàn)了由機(jī)器人代替醫(yī)生完成現(xiàn)場(chǎng)操作的遠(yuǎn)程手術(shù)模式。本文設(shè)計(jì)了一套完整的介入式導(dǎo)管手術(shù)機(jī)器人系統(tǒng),系統(tǒng)由機(jī)械執(zhí)行系統(tǒng)和主從控制系統(tǒng)兩個(gè)部分組成。論文主要就結(jié)構(gòu)設(shè)計(jì)、機(jī)器人系統(tǒng)運(yùn)動(dòng)學(xué),靜態(tài)特性、驅(qū)動(dòng)繩索分析以及主從控制系統(tǒng)設(shè)計(jì)等方面展開了研究。通過對(duì)傳統(tǒng)介入式導(dǎo)管的研究,結(jié)合繩驅(qū)動(dòng)技術(shù)和SMA驅(qū)動(dòng)導(dǎo)管的特點(diǎn),本文設(shè)計(jì)了一種新型繩驅(qū)動(dòng)式主動(dòng)導(dǎo)管。導(dǎo)管由主動(dòng)導(dǎo)管和普通導(dǎo)管串聯(lián)組成,通過繩索驅(qū)動(dòng)控制主動(dòng)導(dǎo)管的位姿調(diào)整,實(shí)現(xiàn)在血管內(nèi)的導(dǎo)向。針對(duì)快速可重構(gòu)的要求,設(shè)計(jì)了用于快速組裝和拆卸的連接件結(jié)構(gòu)。在對(duì)串聯(lián)導(dǎo)管工作原理分析的基礎(chǔ)上,對(duì)導(dǎo)管操控裝置進(jìn)行了設(shè)計(jì),由繩索驅(qū)動(dòng)模塊和直線推送模塊共同完成導(dǎo)管在血管內(nèi)的前進(jìn)和導(dǎo)向,搭建了導(dǎo)管機(jī)器人機(jī)械系統(tǒng)的硬件平臺(tái)。針對(duì)本文所涉及的主動(dòng)導(dǎo)管結(jié)構(gòu),建立了單節(jié)導(dǎo)管及多節(jié)串聯(lián)導(dǎo)管的正向運(yùn)動(dòng)學(xué)模型,使用D-H參數(shù)法對(duì)其正向運(yùn)動(dòng)學(xué)進(jìn)行了分析,求解了導(dǎo)管末端的工作空間。對(duì)主動(dòng)導(dǎo)管進(jìn)行了逆運(yùn)動(dòng)學(xué)分析和雅可比矩陣的求解。在此基礎(chǔ)上對(duì)導(dǎo)管進(jìn)行了靜態(tài)特性分析,研究了驅(qū)動(dòng)繩索力與導(dǎo)管姿態(tài)變化的關(guān)系。分析了基于大撓度假設(shè)法、直線假設(shè)和圓弧假設(shè)三種模型下的的導(dǎo)管彎曲特性,并基于大撓度假設(shè)方法建立了主動(dòng)導(dǎo)管的等效桿模型,求解了主動(dòng)導(dǎo)管彎曲軸線的撓度曲線表達(dá)式,推導(dǎo)了驅(qū)動(dòng)繩索繩長(zhǎng)變化和驅(qū)動(dòng)力隨導(dǎo)管位姿參數(shù)變化的表達(dá)式,使用有限元方法進(jìn)行了仿真分析,驗(yàn)證了模型的正確性。規(guī)劃了導(dǎo)管機(jī)器人主從控制系統(tǒng)整體架構(gòu),從硬件層到控制層進(jìn)行了具體的設(shè)計(jì)。使用了帶有力反饋功能的三自由度Falcon操作主手,基于開環(huán)增量式控制和空間點(diǎn)對(duì)點(diǎn)控制的方法,建立了主從映射關(guān)系,并通過運(yùn)動(dòng)控制卡和驅(qū)動(dòng)電機(jī)實(shí)現(xiàn)從手對(duì)主手的跟隨運(yùn)動(dòng)。
[Abstract]:As a new type of medical robot, interventional catheter robot is developing rapidly with the development of medical technology and medical equipment. The research of catheter robot solves the problems such as poor controllability of guide wire in traditional interventional surgery, high difficulty of operation, poor effect of operation and large amount of radiation in operation environment. The remote operation mode is realized in which the robot replaces the doctor to complete the field operation. A complete interventional catheterization robot system is designed in this paper. The system consists of two parts: mechanical execution system and master-slave control system. This paper mainly focuses on structural design, kinematics of robot system, static characteristics, driving rope analysis and master-slave control system design. Based on the research of the traditional interventional catheter and the characteristics of the rope driving technique and the SMA driving conduit, a new type of rope driven active conduit is designed in this paper. The catheter is composed of the active catheter and the common catheter in series. The alignment of the active catheter is controlled by the rope drive to realize the orientation in the blood vessel. According to the requirement of quick reconfiguration, the connection structure for quick assembly and disassembly is designed. On the basis of the analysis of the working principle of the series catheter, the design of the catheter control device is carried out. The cable driving module and the linear push module are used to complete the advance and guide of the catheter in the blood vessel. The hardware platform of the mechanical system of conduit robot is built. According to the active duct structure, the forward kinematics model of single and multi-segment series ducts is established. The forward kinematics is analyzed by using D-H parameter method, and the workspace of the end of the conduit is solved. Inverse kinematics analysis and Jacobian matrix solution of active catheters are carried out. On this basis, the static characteristics of the conduit are analyzed, and the relationship between the driving rope force and the change of the tube posture is studied. The bending characteristics of ducts based on large deflection hypothesis, straight line assumption and circular arc hypothesis are analyzed, and the equivalent rod model of active conduit is established based on large deflection assumption method. The deflection curve expression of the bending axis of the active duct is solved. The expressions of the length of the driving rope and the change of the driving force with the orientation parameters of the conduit are derived. The simulation analysis is carried out by using the finite element method, and the correctness of the model is verified. The whole architecture of master-slave control system of conduit robot is planned, and the design from hardware layer to control layer is carried out. Based on open-loop incremental control and spatial point-to-point control, the master-slave mapping relationship is established by using a 3-DOF Falcon master hand with force feedback function. The following motion of the slave hand to the master hand is realized by the motion control card and the driving motor.
【學(xué)位授予單位】：南京航空航天大學(xué)
【學(xué)位級(jí)別】：碩士
【學(xué)位授予年份】：2017
【分類號(hào)】：R318;TP242

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本文編號(hào)：2012608