【作者】 杨青；

【导师】 付宜利；

【作者基本信息】 哈尔滨工业大学 ， 机械电子工程， 2010， 硕士

【摘要】 微创手术相较于传统手术而言,具有创伤小、伤口愈合时间短、术后恢复快、病人住院时间短等优点。将机器人技术应用于微创手术当中,可以做到图像质量更高、手术操作更加准确,并且能减少医生的劳动强度,提高手术的质量。然而微创手术需要更长时间的学习和训练,虚拟现实技术为解决这一问题提供了一种可行的方案,微创手术机器人操作仿真系统可以有效避免实际手术训练所带来的时间长、代价大和费用高的缺点,所以具有重要的研究意义。结合国家863计划资助项目“腹腔微创外科手术机器人系统研究”,本文阐述了微创手术机器人操作仿真系统的设计与实现。首先,进行了腹腔微创手术机器人模型的运动学分析。分析了手术机器人的结构模型,求解了手术机器人末端器械的正运动学。为了实现对手术机器人的主从控制,求解了手术机器人的雅克比矩阵和逆雅克比矩阵。其次,搭建了腹腔微创手术机器人的操作仿真平台。介绍了该手术仿真系统的结构,阐述了手术操作仿真平台的原理,针对操作仿真的要求搭建了仿真平台的基本功能模块,为手术机器人操作仿真提供了仿真环境。分析了常用的四种主从控制方式,并选择最优控制方案,求解了手术器械最终控制律。再次,建立了胆囊及其附属管路模型。为了实现对胆囊的操作仿真,建立胆囊及其附属管路几何模型,对该模型赋予基于质点弹簧模型的弹性力学模型,并对该力学模型进行分析,给出胆囊及其附属管路模型的弹性组织力平衡求解方法。胆囊及其附属管路模型是手术机器人的操作仿真对象。最后,进行了腹腔微创手术机器人操作仿真研究。分析了该手术机器人操作仿真的总体框架,对手术机器人进行了手术操作仿真实验研究,实现了对手术器械的主从控制,实现了对胆囊及其附属管路模型的按压与夹持等操作仿真。更多还原

【Abstract】 Compare with traditional surgery, minimally invasive surgery (MIS) has many advantages, such as reducing the incision size, the trauma to human body, the post-operative pain and the length of hospital stay. Further more, bring the robotic technology to MIS can improve the image quality, the accuracy of surgery and reduce the intensity of surgeon, the quality of surgery will be improved. However, MIS needs more time to learn and practice, virtual reality supplies a feasible solution to the problem. Operation simulation system of MIS robot can successful avoid the disadvantages of long time, vast waste and high price bring by the practical surgery practice, so the research on it is very valuable.This thesis supported by the National 863 high-tech project“Research on minimally invasive robot for laparoscopic surgery”analyzes the design and realization of the operation simulation system of a celiac MIS robot.Firstly, the kinematics of the robot is analyzed. This thesis analyzes the structure model of the robot and the position kinematics of the robot, calculates the forward kinematics of the robot. In order to achieve the master-slave control to the robot, Jacobean matrix and the inverse Jacobean matrix is calculated.Secondly, the operation simulation platform of the celiac MIS robot is established. This thesis introduces the structure of the operation simulation system, states the principles of the operation simulation platform, the implementation of the basic modules of the platform is stated, according to the operation simulation requirements, which provides a simulation environment for the operation simulation of the celiac MIS robot. This thesis analyzes the advantages and disadvantages of four master-slave control method and chooses the best method, then calculates the control disciplinarian for the surgical instrument.Thirdly, the models of the gallbladder and its accessory ducts are set up. In order to realize the operation simulation on the gallbladder, this thesis establishes the models of the gallbladder and its accessory ducts, according to the method of the establishment of the models, this thesis simulates the geometrical and physical characteristic of the models, the method for computing the elastic tissue force balace of the models of the gallbladder and its accessory ducts is presented. The models of the gallbladder and its accessory ducts are the objects operated in the simulation platform of the celiac MIS robot model.Finally, the research on the operation simulation of the celiac MIS robot is done. This thesis proposes the entire operation simulation scheme of the celiac MIS, the operation simulation experiments are performed, this thesis realizes the control to the surgical instrument, and the operation simulation of pressing gallbladder model and the operation simulation of clamping gallbladder model are realized.更多还原