腹腔介入式手术机器人虚拟仿真技术研究
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摘要
近年来,医疗手术机器人作为机器人技术研究中的一个热点领域,已经越来越受到人们的关注。而在机器人的研制、设计和试验阶段以及在运行过程中会出现一系列较难解决而又急需解决的问题:如机器人运动学分析与综合、轨迹规划、机器人与工作环境的干涉等等。人们通过长期的研究发现,机器人虚拟仿真技术是解决这些问题较为理想的工具。本文正是在这种背景下对哈尔滨工业大学机器人研究所设计的腹腔介入式手术机器人进行虚拟运动仿真研究。
运动学分析是研究机器人的基础,本文将采用D-H运动学分析方法,求出机器人的运动学正解;根据机器人的结构特性,运用几何法给出机器人运动学逆解;采用矢量积法给出雅可比矩阵。
在机器人运动仿真前必须进行运动规划,本文将对腹腔介入式手术机器人在手术中的几个主要任务过程进行规划;然后利用机器人的冗余特性研究自运动和避障运动的算法,并规划具体的实现步骤。
建立虚拟仿真平台是进行仿真的前提,本文通过模型转换实现机器人的虚拟建模;利用VC++和OpenGL建立虚拟仿真平台,实现对三维模型的基本操作和动画。然后在仿真平台上编程,实现仿真运动,验证相应的算法是否可行;根据相同的运动规划运行实际机器人,用以检验该仿真是否可靠,是否能够体现机器人的运动特性。
如果该仿真平台能很好地完成仿真任务,它必定将在机器人的下一步研究阶起到重要作用。
In recent years, being a hotspot field of robotics surgery robot gets more and more attention. However, in the process of manufacture, design, trial and run of robot problems ,which are difficult to resolve but need be resolved as soon as possible, would come out, such as analysis of kinematics and trajectory planning of robot, interference between robot and environment. After long-term research people find that virtual simulation of robot is a better tool to resolve these problems. Under this background this paper will research on the virtual movement simulation of celiac invasive surgery robot, which is designed by the Robotics Institute of HIT.
Analysis of kinematics is the base of research of robot. This paper will calculate the forward kinematics with D-H method, on base of structure characteristic calculate the inverse kinematics with geometric method, calculate the velocity Jacobian matrix with vector product method.
Before virtual simulation of robot motion planning must be done. This paper will plan several main motions of operation process for celiac invasive surgery robot. Then with the redundancy characteristic this paper will research on the arithmetic of self-motion and motion of obviating obstacle, and plan steps to actualize these two motions.
Establishing virtual simulation platform is the precondition of simulation. On base of changing model this paper will actualize virtual modeling, establish virtual simulation platform with VC++ and OpenGL, actualize basic operations and animation of three-dimensional model. Then this paper will do programme on the platform, actualize simulation motion, check whether foregoing arithmetic is feasible. At last this paper will run the actual robot with the same planning in order to compare with virtual simulation to test whether this simulation is dependable, whether it can incarnate motional characteristic of actual robot.
If this simulation platform can commendably accomplish simulation task, it can affirmatively play an important role in the next research stage of this robot.
运动学分析是研究机器人的基础,本文将采用D-H运动学分析方法,求出机器人的运动学正解;根据机器人的结构特性,运用几何法给出机器人运动学逆解;采用矢量积法给出雅可比矩阵。
在机器人运动仿真前必须进行运动规划,本文将对腹腔介入式手术机器人在手术中的几个主要任务过程进行规划;然后利用机器人的冗余特性研究自运动和避障运动的算法,并规划具体的实现步骤。
建立虚拟仿真平台是进行仿真的前提,本文通过模型转换实现机器人的虚拟建模;利用VC++和OpenGL建立虚拟仿真平台,实现对三维模型的基本操作和动画。然后在仿真平台上编程,实现仿真运动,验证相应的算法是否可行;根据相同的运动规划运行实际机器人,用以检验该仿真是否可靠,是否能够体现机器人的运动特性。
如果该仿真平台能很好地完成仿真任务,它必定将在机器人的下一步研究阶起到重要作用。
In recent years, being a hotspot field of robotics surgery robot gets more and more attention. However, in the process of manufacture, design, trial and run of robot problems ,which are difficult to resolve but need be resolved as soon as possible, would come out, such as analysis of kinematics and trajectory planning of robot, interference between robot and environment. After long-term research people find that virtual simulation of robot is a better tool to resolve these problems. Under this background this paper will research on the virtual movement simulation of celiac invasive surgery robot, which is designed by the Robotics Institute of HIT.
Analysis of kinematics is the base of research of robot. This paper will calculate the forward kinematics with D-H method, on base of structure characteristic calculate the inverse kinematics with geometric method, calculate the velocity Jacobian matrix with vector product method.
Before virtual simulation of robot motion planning must be done. This paper will plan several main motions of operation process for celiac invasive surgery robot. Then with the redundancy characteristic this paper will research on the arithmetic of self-motion and motion of obviating obstacle, and plan steps to actualize these two motions.
Establishing virtual simulation platform is the precondition of simulation. On base of changing model this paper will actualize virtual modeling, establish virtual simulation platform with VC++ and OpenGL, actualize basic operations and animation of three-dimensional model. Then this paper will do programme on the platform, actualize simulation motion, check whether foregoing arithmetic is feasible. At last this paper will run the actual robot with the same planning in order to compare with virtual simulation to test whether this simulation is dependable, whether it can incarnate motional characteristic of actual robot.
If this simulation platform can commendably accomplish simulation task, it can affirmatively play an important role in the next research stage of this robot.
引文
1 Russell H.Taylor, Dan Stoianovici. Medical Robotics in Computer-Integrated Surgery. IEEE Transactions on Robotics and Automation, Vol.19,No.5,Oct,2003: 765-781
2 J.M.Sackier, Y.Wang. Robotically Assisted Laparoscopic Surgery: from Concept to Development. Surgical Endoscopy. 1994, Vol 8: 63-66
3 Yuan-Fang Wang, D.R.Uecker, Wang Yulun. Choreographed Scope Maneuvering in Robotically-Assisted Laparoscopy with Active Vision Guidance. Proceedings 3rd IEEE Workshop on Applications of Computer Vision, WACV’96, 1996: 187-192
4 Steven E.Butner, Moji Ghodoussi. Transformin a Suring Robot for Human Telesurgery. IEEE Transactions on Robotics and Automation, Vol.19,No.5,Oct. 2003: 818-824
5 M.Ghodoussi, S.E.Butner, Y.Wang. Robotic Surgery—the Transatlantic case, in Proc. IEEE Int. Conf. Robotics and Automation, Washington, DC May 2002: 1882-1888
6 G.S.Guthart, J.K.Salisbury, Jr. The Intuitive/sup TM/telesurgery System: Overview and Application. IEEE International Conference on Robotics and Automation, San Francisco, CA April 2000, Vol., 1: 618-621
7 B.Benhabib, M.Dai. Mechanical Design of a Modular Robot for Industrial Application. Journal of Manufacturing System. 1991,10(4): 297-306
8 I.Chen, G..Yang. Automatic Model Generation for Modular Reconfigurable Robot Dynamics. Transactions of the ASME Journal of Dynamic Systems. Measurement, and Control, 1998, 120: 346-352
9 Heginbotham W.Betal. Computer Graphics Simulation of Industrial Robot Interactions. Proc. of the 7th ISIR, 1990
10 Stanffer R.N. Robot System Simulation. Robotic Today, June 1994
11 Ordandea N.Dynamic Continuous Path Synthesis of Industrial Robot Using ADAMS Computer Program. ASME J. of Mech. Design, 1991, 103: 602-607
12 Kretch S.J. CAD/CAM for Robotics. Robots Conf., Society of Manufacturing Engineers, 1992, 1(5): 20-25
13孙增忻. PUMA机器人的动态仿真.机器人, 1986: 598-603
14 Kenneth Jetal. A Study of A Kinematically Redundant Manipulator Structure. IEEE Conf on Robotics and Automation, 1996
15 (美)Saeed B.Niku.机器人学导论——分析、系统和应用.孙富春,朱纪红,刘国栋译.电子工业出版社, 2004
16蔡自兴.机器人学.清华大学出版社, 2000
17黄宇中,张宗明等.机器人灵活工作空间边界的分析.机器人, 1991,5(2): 18-23
18陶其铭.机器人轨迹规划的研究.机床与液压, 2003.No.4
19叶志祥,冀春荣.OpenGL在机器人仿真系统中的应用.机床与液压, 2000.No.2
20 C.Gosselin, J.Angeles. Singularity analysis of closed-loop kinematics chains. IEEE Transaction on Robotics and Automation, 1990, 6(6): 281-290
21 Sun k, Xie Z.W, Liu H, Huang JB. Application of Gradient Projection Method Based on Multiple Performance Criteria Optimization[J]. Control and decision, 2007, 22(12): 1433-1436
22 Marnni G, Kim J, Yuh J. Algorithmic Singularities Avoidance in Task-priority Based Controller for Redundant Manipulators[C]. IEEE International Conference on Intelligent Robots and Systems. Las Vegas, 2003: 3750-3574
23 Zu D, Wu Z.W, Tan D.L. Efficient Inverse Kinematic Solution for Redundant Manipulators[J]. Chinese Journal of Mechanical Engineering. 2005, 41(6): 71-75
24 Chen W.H, Yang M.M, Yu S.Q. A Hybrid Algorithm for the Kinematic Control of Redundant Manipulators. IEEE International Conference on Systems, Man and Cybernetics. 2004: 4438-4443
25丁汉,熊有伦.冗余度机器人的避障物躲避.华中理工大学学报, 1998, 17(5): 21-25
26赵建文. P2S5型串并复合式冗余度机器人机构及运动规划研究.哈尔滨工业大学博士学位论文. 2007: 11-13
27陆震.冗余自由度机器人原理及应用.机械工业出版社, 2007: 10-17
28刘宇.七自由度冗余手臂多性能准则优化及运动控制的研究.哈尔滨工业大学博士学位论文. 2004: 33-42
29 C.Y.Chung, B.H.Lee, J.H.Lee. Obstacle Avoidance for Kinematically Redundant Robots Using Distance Algorithm. IEEE Int. Conf. on Intelligent Robots and Systems, 1997,3: 1787-1793
30 Y.X.Yang, D.Liu, H.Liu. An Approach to Obstacle Avoidance for Redundant Manipulator Based on Fuzzy Logic. Proc. IEEE Int. Conf. on Intelligent Control and Automation. 2002: 725-729
31吴伟国.冗余度机器人运动学基本理论与七自由度仿人手臂的研究.哈尔滨工业大学博士学位论文. 1995: 39-43
32 H.Qiu, O.Hiroaki, C.J.Lin, Z.Y.Li. An Approach to Collision-free Trajectory Planning for Manipulators. Transactions of the Japan Society of Mechanical Engineers, Part C, 2002,68(2): 501-508
33王兰美. OpenGL及其在VC++下的开发应用.武汉大学学报(工学版), Aug.2006, Vol.39 No.4: 73-78
34王雪莉. Visual C++下OpenGL开发框架与应用.华中科技大学学报, 2004.10, 5: 34-36
35石琼,沈春林.基于OpenGL的三维建模实现方法.计算机工程及应用, 2004, 18: 122-124
36陆品.基于OpenGL的三维仿真系统开发.计算机应用, 2002, 63: 65-67
37谭同德,乔木.基于OpenGL的虚拟环境建模技术. 2006.4, 27(2): 37-39
38杨福迈.利用OpenGL实现三维绘图.计算机工程及应用, 2005, 35:30-33
39李晓燕.基于VC6.0和OpenGL机械手三维仿真演示系统.计算机工程与设计, 2004.6, 25(6): 982-985
40刘升.基于VC++的OpenGL三维动画仿真及场景漫游的实现.计算机工程与设计, 2006.9, 27(17): 235-238
41 Wang L.G, Ma BL. Self-motion Control of Redundant Manipulators[J]. Control and decision, 2003, 18(2):199-202
2 J.M.Sackier, Y.Wang. Robotically Assisted Laparoscopic Surgery: from Concept to Development. Surgical Endoscopy. 1994, Vol 8: 63-66
3 Yuan-Fang Wang, D.R.Uecker, Wang Yulun. Choreographed Scope Maneuvering in Robotically-Assisted Laparoscopy with Active Vision Guidance. Proceedings 3rd IEEE Workshop on Applications of Computer Vision, WACV’96, 1996: 187-192
4 Steven E.Butner, Moji Ghodoussi. Transformin a Suring Robot for Human Telesurgery. IEEE Transactions on Robotics and Automation, Vol.19,No.5,Oct. 2003: 818-824
5 M.Ghodoussi, S.E.Butner, Y.Wang. Robotic Surgery—the Transatlantic case, in Proc. IEEE Int. Conf. Robotics and Automation, Washington, DC May 2002: 1882-1888
6 G.S.Guthart, J.K.Salisbury, Jr. The Intuitive/sup TM/telesurgery System: Overview and Application. IEEE International Conference on Robotics and Automation, San Francisco, CA April 2000, Vol., 1: 618-621
7 B.Benhabib, M.Dai. Mechanical Design of a Modular Robot for Industrial Application. Journal of Manufacturing System. 1991,10(4): 297-306
8 I.Chen, G..Yang. Automatic Model Generation for Modular Reconfigurable Robot Dynamics. Transactions of the ASME Journal of Dynamic Systems. Measurement, and Control, 1998, 120: 346-352
9 Heginbotham W.Betal. Computer Graphics Simulation of Industrial Robot Interactions. Proc. of the 7th ISIR, 1990
10 Stanffer R.N. Robot System Simulation. Robotic Today, June 1994
11 Ordandea N.Dynamic Continuous Path Synthesis of Industrial Robot Using ADAMS Computer Program. ASME J. of Mech. Design, 1991, 103: 602-607
12 Kretch S.J. CAD/CAM for Robotics. Robots Conf., Society of Manufacturing Engineers, 1992, 1(5): 20-25
13孙增忻. PUMA机器人的动态仿真.机器人, 1986: 598-603
14 Kenneth Jetal. A Study of A Kinematically Redundant Manipulator Structure. IEEE Conf on Robotics and Automation, 1996
15 (美)Saeed B.Niku.机器人学导论——分析、系统和应用.孙富春,朱纪红,刘国栋译.电子工业出版社, 2004
16蔡自兴.机器人学.清华大学出版社, 2000
17黄宇中,张宗明等.机器人灵活工作空间边界的分析.机器人, 1991,5(2): 18-23
18陶其铭.机器人轨迹规划的研究.机床与液压, 2003.No.4
19叶志祥,冀春荣.OpenGL在机器人仿真系统中的应用.机床与液压, 2000.No.2
20 C.Gosselin, J.Angeles. Singularity analysis of closed-loop kinematics chains. IEEE Transaction on Robotics and Automation, 1990, 6(6): 281-290
21 Sun k, Xie Z.W, Liu H, Huang JB. Application of Gradient Projection Method Based on Multiple Performance Criteria Optimization[J]. Control and decision, 2007, 22(12): 1433-1436
22 Marnni G, Kim J, Yuh J. Algorithmic Singularities Avoidance in Task-priority Based Controller for Redundant Manipulators[C]. IEEE International Conference on Intelligent Robots and Systems. Las Vegas, 2003: 3750-3574
23 Zu D, Wu Z.W, Tan D.L. Efficient Inverse Kinematic Solution for Redundant Manipulators[J]. Chinese Journal of Mechanical Engineering. 2005, 41(6): 71-75
24 Chen W.H, Yang M.M, Yu S.Q. A Hybrid Algorithm for the Kinematic Control of Redundant Manipulators. IEEE International Conference on Systems, Man and Cybernetics. 2004: 4438-4443
25丁汉,熊有伦.冗余度机器人的避障物躲避.华中理工大学学报, 1998, 17(5): 21-25
26赵建文. P2S5型串并复合式冗余度机器人机构及运动规划研究.哈尔滨工业大学博士学位论文. 2007: 11-13
27陆震.冗余自由度机器人原理及应用.机械工业出版社, 2007: 10-17
28刘宇.七自由度冗余手臂多性能准则优化及运动控制的研究.哈尔滨工业大学博士学位论文. 2004: 33-42
29 C.Y.Chung, B.H.Lee, J.H.Lee. Obstacle Avoidance for Kinematically Redundant Robots Using Distance Algorithm. IEEE Int. Conf. on Intelligent Robots and Systems, 1997,3: 1787-1793
30 Y.X.Yang, D.Liu, H.Liu. An Approach to Obstacle Avoidance for Redundant Manipulator Based on Fuzzy Logic. Proc. IEEE Int. Conf. on Intelligent Control and Automation. 2002: 725-729
31吴伟国.冗余度机器人运动学基本理论与七自由度仿人手臂的研究.哈尔滨工业大学博士学位论文. 1995: 39-43
32 H.Qiu, O.Hiroaki, C.J.Lin, Z.Y.Li. An Approach to Collision-free Trajectory Planning for Manipulators. Transactions of the Japan Society of Mechanical Engineers, Part C, 2002,68(2): 501-508
33王兰美. OpenGL及其在VC++下的开发应用.武汉大学学报(工学版), Aug.2006, Vol.39 No.4: 73-78
34王雪莉. Visual C++下OpenGL开发框架与应用.华中科技大学学报, 2004.10, 5: 34-36
35石琼,沈春林.基于OpenGL的三维建模实现方法.计算机工程及应用, 2004, 18: 122-124
36陆品.基于OpenGL的三维仿真系统开发.计算机应用, 2002, 63: 65-67
37谭同德,乔木.基于OpenGL的虚拟环境建模技术. 2006.4, 27(2): 37-39
38杨福迈.利用OpenGL实现三维绘图.计算机工程及应用, 2005, 35:30-33
39李晓燕.基于VC6.0和OpenGL机械手三维仿真演示系统.计算机工程与设计, 2004.6, 25(6): 982-985
40刘升.基于VC++的OpenGL三维动画仿真及场景漫游的实现.计算机工程与设计, 2006.9, 27(17): 235-238
41 Wang L.G, Ma BL. Self-motion Control of Redundant Manipulators[J]. Control and decision, 2003, 18(2):199-202