微创外科手术机器人震颤机理、抑制方法和力反馈控制研究

Tremor suppression and force feedback control are urgent to solve problems in the field of minimally invasive surgical robot. It attempts to explore tremor mechanism from the dynamic behavior of surgical instrument and the control theory. To achieve tremor suppression and the fine movement of surgical instrument, tremor suppression methods based on of sliding mode control and filtering techniques are proposed. The master command observer and the slave state observer using estimated joint position, velocity, acceleration and external forces are built. The master-slave motion and force feedback control architecture with the advantage of position-fore control architecture and the hardware of position-position architecture is put forward, which is to improve minimally invasive surgical precision,quality,and enhance the robustness of the control system..The research contents are as follows: multi-DOF tendon-driven surgical instrument design and dynamic modeling, tremor generation mechanism and suppression method, master-slave motion and force feedback control architecture and control strategy, and construction of experimental system and experimental research..It is expected to achieve a breakthrough in minimally invasive surgical robot master-slave motion and force feedback control theory and implement position-force control without force sensors through the research. It will provide methods and theoretical basis for motion and force feedback control of master-salve medical robots and other teleoperation robotic systems which cannot be integrated force / torque sensors.

震颤抑制和力反馈控制是微创外科手术机器人领域亟待解决的研究课题，本研究试图从手术器械动力学行为和控制理论角度研究震颤产生机理，提出基于滑模控制和现代滤波技术的震颤抑制方法来实现震颤抑制和手术器械精细运动。构建从手状态观测器和主手指令观测器来观测从手关节位置、速度、加速度和外作用力，提出仅仅通过位置-位置结构的硬件实现具有位置-力结构优点的无力/力矩传感器的主从运动和力反馈控制结构，提高微创手术精度、质量和增强手术机器人控制系统的鲁棒性。.主要研究内容：丝传动多自由度手术器械设计和动力学建模、震颤产生机理和抑制方法、主从运动和力反馈控制结构和控制策略、实验系统构建和实验研究。.通过研究，有望在微创外科手术机器人主从运动和力反馈控制理论方面取得突破，实现无力传感器的主从位置-力控制。为无法集成力/力矩传感器主从式医疗机器人乃至其它遥操作机器人系统实现运动和力反馈控制提供系统方法和理论依据。

目前，对微创外科机器人的需求与日俱增，然而震颤抑制和力反馈控制是该领域中亟待解决的问题。研究了震颤机理、抑制方法和力反馈控制。构建了主从微创外科机器人系统，针对手部生理抖动产生的震颤，提出了一新的零相位自适应模糊卡尔曼滤波的震颤抑制方法，避免了引入传统滤波器导致的时延问题。设计了具有摩擦前馈关节滑模控制的震颤抑制方法，用于抑制由于粘滑行为导致的震颤。设计了外力观测器即虚拟力传感器，实现了无力传感器的力估测，构建了主从运动和力反馈控制结构，该结构实现了仅通过位置-位置的硬件结构获得具有位置-力结构的优点。进行了震颤抑制实验、力估测实验和主从运动位置和力跟踪实验，获得与理论分析基本一致的结果。该研究为主从遥操作机器人系统实现无震颤的精细运动和无力/力矩传感器的力反馈控制奠定了基础。