【作者】 张迪；

【导师】 孟庆虎（Max Q.-H.Meng)；

【作者基本信息】 哈尔滨工业大学 ， 控制工程（专业学位）， 2019， 硕士

【摘要】 随着人们物质生活的丰富与人类寿命的延长,脑外科疾病患者的数量也在逐年增长。同时,随着医疗水平的提高,微创或者无创手术也逐渐成为脑外科手术中主流的治疗手段,这种技术具有创伤小、恢复快、疼痛感轻、低副作用等特点。本课题所研究的同心管机器人就是应用于脑外科疾病微创手术的一种设备,它能够辅助医生对病变部位进行手术操作。为使同心管机器人在脑外科微创手术中能够无碰撞的从插入点到达病灶附近,本文对同心管机器人的路径规划算法和运动控制做出了研究。针对同心管机器人在脑外科手术中的应用,本文设计了同心管机器人系统,建立了同心管逆运动学的两种新方法,提出了应用于同心管机器人路径规划的RRT*-smooth算法和同心管机器人的运动控制策略。本文通过对相关设备的选型,搭建了同心管机器人系统,并提出了同心管参数的设计方案。在构建该系统的同时,本文研究了同心管机器人的正逆运动学方程,为解决逆运动学的求解问题,提出了几何分析法和查表法。在此基础上,考虑到时间和路径对同心管机器人的影响,本文在研究应用于同心管机器人的PRM算法和RRT*算法时,改进了RRT*算法,使同心管机器人在时间和路径上能够相对最优且无碰撞的由起始点到达目标点。在进行实验时,依据同心管机器人无碰撞的准则和运行的速度,提出了同心管机器人的运动控制策略。同心管机器人在乐高模型,头骨和大脑模型上路径规划算法的仿真和实验结果,验证了算法的可行性,即在误差允许的范围内同心管机器人能够耗时少、路径短、无碰撞地到达目标位置。更多还原

【Abstract】 With the enrichment of people’s material life and the extension of human life,the number of patients with brain surgery diseases is increasing year by year.At the same time,with the improvement of medical level,minimally invasive or non-invasive surgery has gradually become the mainstream treatment in brain surgery.This technology has the characteristics of small trauma,quick r ecovery,light pain and low side effects.The concentric tube robot studied in this subject is a device used in minimally invasive surgery for brain surgery,which can assist doctors in performing surgical operations on the lesion.In order to make the concentric tube robot reach the lesion from the insertion point without collision in the minimally invasive surgery of brain surgery,this paper studies the path planning algorithm and motion control of the concentric tube robot.Aiming at the application of concentric tube robot in brain surgery,this paper designs a concentric tube robot system,establishes two new methods of concentric tube inverse kinematics,and proposes RRT*-smooth algorithm and concentricity for concentric tube robot path planning.The motion control strategy of the tube robot.This paper builds a concentric tube robot system by selecting the relevant equipment,and proposes a design scheme for concentric tube parameters.At the same time of constructing the system,this paper studies the forward and inverse kinematics equations of concentric tube robots.In order to solve the problem of inverse kinematics,the geometric analysis method and lookup table method are proposed.On this basis,the paper also takes the influence of time and path on the concentric tube robot into considerstion.This paper proposes the RRT*-smooth algorithm in the process of doing research on the application of the PRM algorithm and the RRT* algorithm,which benefits to achieve relatively optimal and collision-free from the starting point to the target point in both time and path.In the experiment,according to the non-collision criterion and the running speed of the concentric tube robot,the motion control strategy of the concentric tube robot is proposed.The simulation and experimental results of the path planning algorithm in the Lego model,skull and brain model show that the concentric tube robot can reach the target position without collision and with less time and the path is short within the error tolerance,and therefore the proposed method has been verified.更多还原