面向外科手术的力反馈型遥操作主手研究
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摘要
随着遥操作机器人在外科手术中应用的不断发展,力反馈主手发挥着越来越重要的作用。力反馈主手是遥操作过程中的关键部件,是从端机械手进行实时运动控制的输入设备,又是反映从端机械手与环境之间相互作用力的一种力觉输出设备。本文结合国家“863”计划项目“微创腹腔外科手术机器人”并基于国内外力反馈主手的研究现状和发展趋势,对面向外科手术的力反馈型遥操作主手进行研究。
首先根据主手性能指标与主手设计原则,按照外科手术机器人机械臂运动特点把力反馈主手设计为串并联混合型结构,并进行了自由度的相应配置,选择了并联机构和串联机构的构型,对3-RUU并联机构进行了运动学及静力学分析,给出了串联机构的正解表达式和主手整体正解表达式。
其次根据主手运动学及并联机构静力学特点,对主手的各组成部分进行了机械结构设计,包括基座、并联机构、串联机构、夹持机构等,完成了力反馈主手虚拟装配及静刚度分析。完成了力反馈主手实际装配。
最后结合力反馈主手机械结构设计及在腹腔镜手术中的应用要求,完成了三维力反馈电机和夹持力反馈电机的选型,设计了主手的控制系统,搭建了控制系统硬件,编写了基于控制卡的力反馈主手控制程序,完成了三维力反馈实验、夹持力反馈实验、重力补偿实验,并对实验过程和实验结果进行了分析。
With the constant development of tele-operate robot applications in surgery, master manipulator force feedback is playing an increasingly important role. master manipulator force feedback is a key component for the process of tele-operate, and that is the slave manipulator input devices in real-time motion control, and that is reflected the force between slave manipulator and the environment as a the haptic output device.This paper combines the national "863" project, "minimally invasive abdominal surgery robot" and is based on development research of master manipulator force feedback in domestic or abroad , doing research on master manipulator force feedback of tele-operate robot in surgery.
First performance indicators under the main manipulator performance index and the master manipulator design principles, in accordance with the characteristics of surgical robotic arm movement to master manipulator force feedback designed for series-parallel hybrid structure and conducted the corresponding degree of freedom configuration, and selected series of parallel institutions and configuration of bodies, analysing kinematics and static of the 3-RUU Parallel Mechanism, giving the Expression of positive solutions of series mechanism and whole Expression of positive solutions of master manipulator .
Then, under the characteristics of the main manipulator kinematics and parallel mechanism static, designed the mechanical structure of the main manipulator's components, including the base, parallel mechanism, series mechanism, clamping mechanism and so on, completed stiffness analysis of the master manipulator of force feedback . completed the actual assembly.
Finally, combined with the master manipulator of force feedback mechanical design and the requirements in laparoscopic surgery, designed the main manipulator control system, set up the control system hardware, given the physical map, programmed master manipulator of force feedback control procedures based on the control card, completed a three-dimensional force feedback experiment, clamping force feedback experiment, gravity compensation experiment, and analyzed the experimental procedure and experimental results.
首先根据主手性能指标与主手设计原则,按照外科手术机器人机械臂运动特点把力反馈主手设计为串并联混合型结构,并进行了自由度的相应配置,选择了并联机构和串联机构的构型,对3-RUU并联机构进行了运动学及静力学分析,给出了串联机构的正解表达式和主手整体正解表达式。
其次根据主手运动学及并联机构静力学特点,对主手的各组成部分进行了机械结构设计,包括基座、并联机构、串联机构、夹持机构等,完成了力反馈主手虚拟装配及静刚度分析。完成了力反馈主手实际装配。
最后结合力反馈主手机械结构设计及在腹腔镜手术中的应用要求,完成了三维力反馈电机和夹持力反馈电机的选型,设计了主手的控制系统,搭建了控制系统硬件,编写了基于控制卡的力反馈主手控制程序,完成了三维力反馈实验、夹持力反馈实验、重力补偿实验,并对实验过程和实验结果进行了分析。
With the constant development of tele-operate robot applications in surgery, master manipulator force feedback is playing an increasingly important role. master manipulator force feedback is a key component for the process of tele-operate, and that is the slave manipulator input devices in real-time motion control, and that is reflected the force between slave manipulator and the environment as a the haptic output device.This paper combines the national "863" project, "minimally invasive abdominal surgery robot" and is based on development research of master manipulator force feedback in domestic or abroad , doing research on master manipulator force feedback of tele-operate robot in surgery.
First performance indicators under the main manipulator performance index and the master manipulator design principles, in accordance with the characteristics of surgical robotic arm movement to master manipulator force feedback designed for series-parallel hybrid structure and conducted the corresponding degree of freedom configuration, and selected series of parallel institutions and configuration of bodies, analysing kinematics and static of the 3-RUU Parallel Mechanism, giving the Expression of positive solutions of series mechanism and whole Expression of positive solutions of master manipulator .
Then, under the characteristics of the main manipulator kinematics and parallel mechanism static, designed the mechanical structure of the main manipulator's components, including the base, parallel mechanism, series mechanism, clamping mechanism and so on, completed stiffness analysis of the master manipulator of force feedback . completed the actual assembly.
Finally, combined with the master manipulator of force feedback mechanical design and the requirements in laparoscopic surgery, designed the main manipulator control system, set up the control system hardware, given the physical map, programmed master manipulator of force feedback control procedures based on the control card, completed a three-dimensional force feedback experiment, clamping force feedback experiment, gravity compensation experiment, and analyzed the experimental procedure and experimental results.
引文
1 Oda.M. Space Robot Experiments on NASDA’s ETS-VII Satellite. IEEE International Conference on Robotics and Automation.1999:1390~1395
2 Christopher R.Nicholas S.Robert D.The role of force feedback in surgery: analysis of blunt dissection.10th symposium on haptic interface for virtual environment and teleoperator systems, March 24~25, 2002: 118~125
3杜志江,孙立宁,富历新.医疗机器人发展综述.机器人.2003,25(2):182~187
4解海滨.主从遥控操作机器人系统中阻抗控制算法的仿真研究.硕士学位论文.东南大学.2001:10~15
5 Emmanuel I.Agba,SeaMaster:An ROV-Manipulator System Simulator, IEEE Computer Graphics and Applications.1995,15(1):24~31
6朴明波,付宜利.王树国.外科辅助手术机器人的发展及关键技术分析.机械设计与制造.2008.7(7):174~176
7 Butner S E,Ghodoussi M.A real—time system for telesurgery. Proceedings 21st international Conference on Distributed Computing Systems.2001:236~243
8 G.S.Guthart and S.J.K. The Intuitive Telesurgical System: Overview and Application, presented at IEEE International Conference on Robotics and Automation. 2000:618~621
9 Intuitive Surgical Da Vinci Surgical System, February 9,2007. http://www.intuitivesurgical.com/products/davinci_surgicalsystem/index.aspx
10 Nobuto. Matsuhira, Makoto Asakura, Hiroyuki Bamba and Michihiro Uenohara. Development of an Advanced Master-Slave Manipulator Using a Pandograph Master Arm and a Redundant Slave Arm. Proceedings of the 1993 IEEWRSJ International Conference on Intelligent Robots and Systems Yokohama, Japan July 2630, 1993: 1653~1658
11 P.A.Millman, J.E.Colgate, Design of a four degree of freedom Force Reflecting Manipulandum with A specified Force/Torque workspace. IEEE International Conference on Robotics and Automation.1991:1488~1493
12 T.Massie,K.Salisbury, PHANToM Haptic Interface: A Device for Probing virtual Objects. ASME Journal of Dynamic system and Control, New York.1994:295~299
13 Diego Borro, Joan Savall, Aiert Amundarain ,Jorge Juan Gil. A Large Haptic Device for Aircraft Engine Maintainability. IEEE Computer Graphics and Applications 2004:70~74
14 E.Frederiksen,Virtual Mechanics Device General Information, FCS Control Systems, Schiphol, The Netherlands,2000
15 Faas Daniela,Fischer, Vance Judy M. Interactive Mesh-Free Stress Analysis for Mechanical Design Assembly with Haptics. ASME 2007 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference.2008:1359~1365
16 M.Tavakoli,R.V.Patel,M Moallem. A Haptic interface for computer-integrated endoscopic surgery and training. Virtual Reality.2006,9:160~176
17 Woo-Keun Yoon,Takashi Suehiro.Yuichi Tsumaki.Masaru Uchiyama. A Method for Analyzing Parallel Mechanism Stiffness including Elastic Deformations in the Structure. Proceedings of the 2002 IEEE/RSJ Intl. Conference.2002:2875~2880
18 Ki Young Woo,Byoung Dae Jin,Dong-Soo Kwon. A 6-DOF Force-Reflecting Hand Controller Using the Five-bar Parallel mechanism. Proceedings of IEEE International Conference on Robotics and Automation.1998:1579~1602
19 Eric L.Faulring,J.Edward Colgate,Michael A.Peshkin. The Robotic Hand Controller: Design, Control and Performance of a Novel Haptic Display. International Journal of Robotics Research.2006,25(11):1099~1119
20 P.J.Berkelman,Z.J.Butler,R.L.Hollis. Design of a hemispherical magnetic levitation haptic interface. Proceedings of the ASME Dynamics Systems and Control Division.1996,58:483~488
21侯文卓.液压伺服六自由度力反馈手控器的设计研究.硕士学位论文.吉林大学.2004:14~15
22王辉.显微外科手术机器人系统主操作手设计与研究.硕士学位论文.天津大学.2004:53~56
23高士峰.医疗机器人主操作手接口研究与开发.硕士学位论文.天津大学.2005:4
24付玉锦,原魁,杜清秀.基于手术刀的虚拟外科手术系统仿真器.计算机工程与应用.2005,19:97~100
25孔民秀.缩放式力觉主手研究及其在遥操作正骨手术中的应用.博士学位论文.哈尔滨工业大学.2007:20~21
26李国杰.基于虚拟现实技术的力觉交互设备的研究与构建.硕士学位论文.上海交通大学.2008:63~66
27文福安,梁崇高,廖启征.并联机器人机构位置正解中国机械工程.1999,14(3): 1011~1013
28宫金良,张彦斐,魏修亭.基于输入组的六自由度解耦并联机器人.机械科学与技术.2007 ,11: 142~1423
29赵铁石,黄真.一种三维运动并联平台机构的运动学分析.中国机械工程.2001,12(6):613~615
30 M.A. Laribia,L. Romdhane, S. Zeghloul Analysis and dimensional synthesis ofthe DELTA robot for a prescribed workspace Mechanism and Machine Theory 2007,7(42):859~870
31郭宗,孙术华,郝秀清,牛国栋,李连升.3-PUU三维平动并联机器人的位置分析及其仿真.中国机械工程.2006,9(17):1787~1789
32晁艳霞.解耦结构三平移力反馈控制器研究.硕士学位论文.河北工业大学.2005:15-25
33 Han Sung Kim and Lung Wen Tsai. Design optimization of a Cartesian Parallel Manipulator. Journal of Mechanical Design.2003,1:43~51
34 Han Sung Kim and Lung Wen Tsai. Design optimization of a Cartesian Parallel Manipulator .Proceedings of the ASME Design Engineering Technical Conference.2002:865~872
35张晓洪,张均富,夏重.3-RTT并联机构的奇异轨迹分析.工程设计学报.2007:300~303
36于靖军,刘辛军,丁希仑,戴建生.机器人机构学的数学基础.机械工业出版社.2008:182~185
37张威.3-RTT并联机器人运动学理论研究.硕士学位论文.天津理工学院.2003:10~13
38黄真.并联机器人机构学理论及控制.机械工业出版社.1997:89~90
39 Clement Gosselin. Jorge Angeles. Singularity Analysis of Closed Loop Kinematic Chains. IEEE Transactions on Robotics and Automation. 1990,6(3):281~290
40尹小琴,马履中,杨启志,谢俊.并联机构静力学分析.农业机械学报.2007,2:201
41杨斌久,蔡光起.基于Pro/E的并联机床静刚度分析.工具技术.2009,2:71~72
42高娜.医疗机器人主操作臂控制系统的研究,河北工业大学硕士学位论文.2007:26~29
2 Christopher R.Nicholas S.Robert D.The role of force feedback in surgery: analysis of blunt dissection.10th symposium on haptic interface for virtual environment and teleoperator systems, March 24~25, 2002: 118~125
3杜志江,孙立宁,富历新.医疗机器人发展综述.机器人.2003,25(2):182~187
4解海滨.主从遥控操作机器人系统中阻抗控制算法的仿真研究.硕士学位论文.东南大学.2001:10~15
5 Emmanuel I.Agba,SeaMaster:An ROV-Manipulator System Simulator, IEEE Computer Graphics and Applications.1995,15(1):24~31
6朴明波,付宜利.王树国.外科辅助手术机器人的发展及关键技术分析.机械设计与制造.2008.7(7):174~176
7 Butner S E,Ghodoussi M.A real—time system for telesurgery. Proceedings 21st international Conference on Distributed Computing Systems.2001:236~243
8 G.S.Guthart and S.J.K. The Intuitive Telesurgical System: Overview and Application, presented at IEEE International Conference on Robotics and Automation. 2000:618~621
9 Intuitive Surgical Da Vinci Surgical System, February 9,2007. http://www.intuitivesurgical.com/products/davinci_surgicalsystem/index.aspx
10 Nobuto. Matsuhira, Makoto Asakura, Hiroyuki Bamba and Michihiro Uenohara. Development of an Advanced Master-Slave Manipulator Using a Pandograph Master Arm and a Redundant Slave Arm. Proceedings of the 1993 IEEWRSJ International Conference on Intelligent Robots and Systems Yokohama, Japan July 2630, 1993: 1653~1658
11 P.A.Millman, J.E.Colgate, Design of a four degree of freedom Force Reflecting Manipulandum with A specified Force/Torque workspace. IEEE International Conference on Robotics and Automation.1991:1488~1493
12 T.Massie,K.Salisbury, PHANToM Haptic Interface: A Device for Probing virtual Objects. ASME Journal of Dynamic system and Control, New York.1994:295~299
13 Diego Borro, Joan Savall, Aiert Amundarain ,Jorge Juan Gil. A Large Haptic Device for Aircraft Engine Maintainability. IEEE Computer Graphics and Applications 2004:70~74
14 E.Frederiksen,Virtual Mechanics Device General Information, FCS Control Systems, Schiphol, The Netherlands,2000
15 Faas Daniela,Fischer, Vance Judy M. Interactive Mesh-Free Stress Analysis for Mechanical Design Assembly with Haptics. ASME 2007 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference.2008:1359~1365
16 M.Tavakoli,R.V.Patel,M Moallem. A Haptic interface for computer-integrated endoscopic surgery and training. Virtual Reality.2006,9:160~176
17 Woo-Keun Yoon,Takashi Suehiro.Yuichi Tsumaki.Masaru Uchiyama. A Method for Analyzing Parallel Mechanism Stiffness including Elastic Deformations in the Structure. Proceedings of the 2002 IEEE/RSJ Intl. Conference.2002:2875~2880
18 Ki Young Woo,Byoung Dae Jin,Dong-Soo Kwon. A 6-DOF Force-Reflecting Hand Controller Using the Five-bar Parallel mechanism. Proceedings of IEEE International Conference on Robotics and Automation.1998:1579~1602
19 Eric L.Faulring,J.Edward Colgate,Michael A.Peshkin. The Robotic Hand Controller: Design, Control and Performance of a Novel Haptic Display. International Journal of Robotics Research.2006,25(11):1099~1119
20 P.J.Berkelman,Z.J.Butler,R.L.Hollis. Design of a hemispherical magnetic levitation haptic interface. Proceedings of the ASME Dynamics Systems and Control Division.1996,58:483~488
21侯文卓.液压伺服六自由度力反馈手控器的设计研究.硕士学位论文.吉林大学.2004:14~15
22王辉.显微外科手术机器人系统主操作手设计与研究.硕士学位论文.天津大学.2004:53~56
23高士峰.医疗机器人主操作手接口研究与开发.硕士学位论文.天津大学.2005:4
24付玉锦,原魁,杜清秀.基于手术刀的虚拟外科手术系统仿真器.计算机工程与应用.2005,19:97~100
25孔民秀.缩放式力觉主手研究及其在遥操作正骨手术中的应用.博士学位论文.哈尔滨工业大学.2007:20~21
26李国杰.基于虚拟现实技术的力觉交互设备的研究与构建.硕士学位论文.上海交通大学.2008:63~66
27文福安,梁崇高,廖启征.并联机器人机构位置正解中国机械工程.1999,14(3): 1011~1013
28宫金良,张彦斐,魏修亭.基于输入组的六自由度解耦并联机器人.机械科学与技术.2007 ,11: 142~1423
29赵铁石,黄真.一种三维运动并联平台机构的运动学分析.中国机械工程.2001,12(6):613~615
30 M.A. Laribia,L. Romdhane, S. Zeghloul Analysis and dimensional synthesis ofthe DELTA robot for a prescribed workspace Mechanism and Machine Theory 2007,7(42):859~870
31郭宗,孙术华,郝秀清,牛国栋,李连升.3-PUU三维平动并联机器人的位置分析及其仿真.中国机械工程.2006,9(17):1787~1789
32晁艳霞.解耦结构三平移力反馈控制器研究.硕士学位论文.河北工业大学.2005:15-25
33 Han Sung Kim and Lung Wen Tsai. Design optimization of a Cartesian Parallel Manipulator. Journal of Mechanical Design.2003,1:43~51
34 Han Sung Kim and Lung Wen Tsai. Design optimization of a Cartesian Parallel Manipulator .Proceedings of the ASME Design Engineering Technical Conference.2002:865~872
35张晓洪,张均富,夏重.3-RTT并联机构的奇异轨迹分析.工程设计学报.2007:300~303
36于靖军,刘辛军,丁希仑,戴建生.机器人机构学的数学基础.机械工业出版社.2008:182~185
37张威.3-RTT并联机器人运动学理论研究.硕士学位论文.天津理工学院.2003:10~13
38黄真.并联机器人机构学理论及控制.机械工业出版社.1997:89~90
39 Clement Gosselin. Jorge Angeles. Singularity Analysis of Closed Loop Kinematic Chains. IEEE Transactions on Robotics and Automation. 1990,6(3):281~290
40尹小琴,马履中,杨启志,谢俊.并联机构静力学分析.农业机械学报.2007,2:201
41杨斌久,蔡光起.基于Pro/E的并联机床静刚度分析.工具技术.2009,2:71~72
42高娜.医疗机器人主操作臂控制系统的研究,河北工业大学硕士学位论文.2007:26~29