【摘要】：微創(chuàng)介入手術(shù)以其創(chuàng)傷小、恢復(fù)快、效果好,成為近年來研究的熱點。本文將在人體管道內(nèi)介入操作的應(yīng)用背景下,研究一種可重構(gòu)的導(dǎo)管機(jī)器人及其仿真軟件。該系統(tǒng)通過彎曲單元數(shù)量的增加、控制精度的提高來降低手術(shù)技術(shù)門檻;通過結(jié)構(gòu)重構(gòu),滿足手術(shù)環(huán)境變化對導(dǎo)管機(jī)器人結(jié)構(gòu)的不同要求;采用自主運(yùn)動規(guī)劃算法實現(xiàn)對導(dǎo)管機(jī)器人的操作與控制,從而將醫(yī)生從強(qiáng)輻射的手術(shù)現(xiàn)場解放出來。本項目提出的導(dǎo)管機(jī)器人系統(tǒng),對人類生命質(zhì)量的提高有著極其重要的意義。本文首先通過模態(tài)函數(shù)法和直線/圓弧法建立管道模型的數(shù)字化描述方法,將手術(shù)任務(wù)要求、管道約束、障礙約束統(tǒng)一于對管道模型的描述與修改中。針對人體管道內(nèi)介入操作需要,提出了可重構(gòu)導(dǎo)管機(jī)器人的基本模塊組成。并針對典型介入手術(shù)環(huán)境特征,建立機(jī)器人系列化和結(jié)構(gòu)重構(gòu)統(tǒng)一算法。接著,基于運(yùn)動等效法推導(dǎo)出單個彎曲單元操作空間、關(guān)節(jié)空間和驅(qū)動空間的映射關(guān)系;研究超冗余自由度鏈?zhǔn)较到y(tǒng)的正向運(yùn)動學(xué)可重構(gòu)建模算法;基于管道描述模型,分別就環(huán)境管道外和環(huán)境管道內(nèi),研究超冗余自由度鏈?zhǔn)较到y(tǒng)的逆向運(yùn)動學(xué)可重構(gòu)建模算法;針對彎曲單元關(guān)節(jié)變量的強(qiáng)耦合關(guān)系,基于螺旋理論建立可快速擴(kuò)展的廣義雅克比矩陣;分析了機(jī)器人的奇異性,建立了靈巧性、通過性的性能評價指標(biāo);針對典型介入手術(shù)任務(wù),建立了自主運(yùn)動規(guī)劃算法;研究了此結(jié)構(gòu)下的非線性方程組求全局最優(yōu)解時初始值選取的原則。然后,基于C++語言和Open GL的API,在QT5.7平臺上編制了機(jī)器人三維仿真軟件SurgicalRobot。軟件包括任務(wù)規(guī)劃、結(jié)構(gòu)重構(gòu)、運(yùn)動學(xué)、三維仿真等模塊。最后,運(yùn)用三維仿真軟件SurgicalRobot和MATLAB進(jìn)行了手術(shù)任務(wù)約束下導(dǎo)管機(jī)器人的結(jié)構(gòu)重構(gòu)仿真,驗證了可重構(gòu)導(dǎo)管機(jī)器人基本模塊中導(dǎo)管推送作業(yè)對擴(kuò)大可達(dá)工作空間,扭轉(zhuǎn)操作對擴(kuò)大靈活工作空間的作用�；谠撥浖脚_,對任務(wù)約束下機(jī)器人結(jié)構(gòu)重構(gòu)、運(yùn)動學(xué)模型構(gòu)建與任務(wù)規(guī)劃算法的正確性與快速性進(jìn)行了驗證。
[Abstract]:Minimally invasive interventional surgery has become a hot research area in recent years because of its small trauma, quick recovery and good effect. In this paper, a reconfigurable conduit robot and its simulation software are studied under the background of human tube interventional operation. The system reduces the threshold of surgical technology by increasing the number of bending units and improving the control precision, and meets the different requirements of the structure of the catheter robot by the structural reconstruction of the operation environment. The autonomous motion planning algorithm is used to realize the operation and control of the catheter robot, thus freeing the doctor from the strong radiation operation site. It is of great significance to improve the quality of life of human beings by using the catheter robot system proposed in this project. In this paper, the digital description method of pipeline model is established by means of modal function method and straight line / arc method. The operation task requirements, pipeline constraints and obstacles constraints are unified in the description and modification of the pipeline model. The basic modules of reconfigurable conduit robot are proposed to meet the need of human tube intervention. According to the characteristics of typical interventional operation environment, a unified algorithm of robot serialization and structural reconstruction is established. Then, based on the method of motion equivalence, the mapping relationship among operation space, joint space and drive space of single bending element is derived. The forward kinematics reconfigurable modeling algorithm of hyperredundant chain system is studied. The inverse kinematics reconfigurable modeling algorithms for hyperredundant chain systems with degrees of freedom are studied, respectively, for the external and internal environmental pipelines, and for the strong coupling relation of joint variables of bending elements, the inverse kinematic reconfigurable modeling algorithm for hyperredundant chain systems is studied. Based on the spiral theory, the generalized Jacobian matrix is established, the singularity of the robot is analyzed, the performance evaluation index of dexterity is established, and the autonomous motion planning algorithm is established for typical intervention tasks. In this paper, the principle of selecting the initial value for solving the global optimal solution of nonlinear equations under this structure is studied. Then, based on C language and Open GL API, the 3D simulation software SurgicalRobot. is developed on the QT5.7 platform. The software includes task planning, structure reconstruction, kinematics, 3D simulation and so on. Finally, the structural reconstruction simulation of the conduit robot under the constraint of operation task is carried out by using the three-dimensional simulation software SurgicalRobot and MATLAB, and it is verified that the duct push operation in the basic module of the reconfigurable conduit robot can enlarge the reachable workspace. The role of twist operation in expanding flexible workspace. Based on this software platform, the correctness and rapidity of robot structure reconstruction, kinematics model construction and task planning algorithm under task constraints are verified.
【學(xué)位授予單位】：南京航空航天大學(xué)
【學(xué)位級別】：碩士
【學(xué)位授予年份】：2017
【分類號】：R616;TP242

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本文編號：2272012