【作者】 孙鹏；

【导师】 赵忆文；

【作者基本信息】 东北大学 ， 控制工程（专业学位）， 2015， 硕士

【摘要】 近年来,随着科学技术的迅猛发展,人们的生活水平和自我保健意识的不断提升,人们对于医疗技术的要求也越来越高,而机器人以其安全性、稳定性和精确性等显著的优势得到医疗界、产业界和患者的广泛认可。机器人应用于脊柱微创手术中,能够大大提高手术的精度,保证重复定位精度以及避免手术过程中大量X射线辐射累积对医生身体的伤害。主操作手是脊柱微创手术机器人中的重要组成部分,是主从式遥操作系统中的必不可少的载体,其控制精度、操作的灵活度以及力反馈的准确性,能够大大提高手术的质量。因此,研究带力反馈装置的脊柱微创手术机器人的主操作手,对于外科手术机器人以及推动遥操作机器人力反馈控制理论发展具有重要意义。本文的主要研究内容包括:首先,介绍国内外主从式手术机器人以及力反馈主手的研究现状。通过这些介绍可以了解力反馈操作装置的结构、原理、控制方法等方面内容,明确主操作手力反馈控制中应该注意的问题。其次,针对脊柱微创手术机器人的力反馈主手进行运动学分析。利用优化的解析几何方法进行Delta并联机构正运动学的求解,并与SolidWorks驱动值进行对比验证;利用解析法对Delta并联机构的运动学反解运算,并与SolidWorks驱动值进行比对验证。利用D-H法对主操作手机构进行了整体运动学分析,并进行了仿真验证其正反解的准确性。其次,在此基础上,对该机构的工作空间进行了分析论证,利用代数法求解出并联机构的雅可比矩阵,为机构的灵活度提供里理论基础,分析机构的误差源,建立了准确的误差模型用于运动学标定。最后,完成对主手控制系统的设计。利用串口通讯获得六维力/力矩传感器上的准确数据;利用Qt与VS2008结合设计出简单人机交互界面,用于调试和参数设置;完成了同从手之间的实时通讯,实现了主从手信息交互;以及在QNX实时操作系统下整合所有模块,完成整个主手控制系统的设计。更多还原

【Abstract】 In recent years,with the rapid development of science and technology,people’s living standard and self-care sense constantly raising,people’s demand for medical technology becomes higher and higher.And robots for its security,stability,accuracy and other notable advantages are widely recognized by the medical field,industry and patients.Robots are used in minimally invasive spine surgery(MISS),which can greatly improve the accuracy of surgery,ensure repeat-precision and avoid harm to medical practitioners because of cumulative significant X-ray radiation during surgery.The master manipulator is an important part of minimally invasive spine surgery robot,is an essential carrier of master-slave teleoperation system,its control accuracy,flexibility and precision for the force feedback can significantly improve the quality of surgery.Therefore,research on master manipulator of minimally invasive spine surgery robot with feedback device is very important for promoting the force feedback theoretical development of surgical robotics and tele-robotics.The main content of this article,including:Firstly,the research status at home and abroad of master-slave surgical robot and force feedback master manipulator is introduced.Through these presentations can have the knowledge of structure,theory,control method and others of force feedback operating device,make clear the problems should be noticed of the master manipulator during force feedback control.Secondly,kinematics for force feedback master manipulator of minimally invasive spine surgery robot is analyzed.Using optimal method of analytic geometry to solve Delta forward kinematics of parallel mechanism,and compare and verify with the SolidWorks driving value;using analytical method to inverse operate Delta kinematics of parallel mechanism,and compare and verify with the SolidWorks driving value.Using the D-H method to analyze the whole kinematics of master manipulator structure,and the accuracy of direct and inverse solution are validated by the simulation.Then,on this basis,analyzing the workspace of this structure and using algebraic method to solve Jacobian matrix of parallel mechanism,which provides the theory foundation for flexibility of device,analyzes error source and establishes accurate error models for kinematic calibration.Finally,the master manipulator control system is designed.We obtained accurate data on the six-axis force/torque sensors by using serial communication;designed the simple Human Machine Interface for debugging and parameter setting by combining Qt and VS2008;completed real-time communication between master and slave manipulators,achieved information exchange between master and slave manipulators;and integrate all modules under QNX real-time operating system to complete the design of the whole control system of master manipulator.更多还原