腹腔微创手术机器人从手系统设计与分析
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摘要
微创外科手术(Minimally Invasive Surgery, MIS)以其创伤小、可减轻患者痛苦、术后恢复快、医疗成本低等诸多优点在传统外科手术领域中得到广泛应用并迅速发展。而将机器人技术应用到微创外科手术中能够有效地提高手术质量,降低医生劳动强度。因此,在微创外科手术领域机器人的应用得到了极大的重视,并已成为医疗机器人领域的研究热点。
结合国家“863”计划资助项目“腹腔微创手术机器人系统研究”,本文对腹腔微创手术机器人从手系统进行详细的结构设计及运动学与动力学分析;在此基础上结合实际手术过程的需要,对机器人臂形设置情况进行相关理论研究;最后,利用ADAMS软件对机器人臂形设置情况以及典型运动方式进行模拟仿真,并进行相关实验研究。
本文首先对腹腔微创手术机器人从手系统进行结构设计。在对腹腔微创手术作业进行分析的基础上,确定机器人的最终构型方案,并进行详细的结构设计;结合手术需要对机器人进行臂长优化;根据手术过程中机器人各关节的受力情况,对其关键零部件进行力学分析,并最终选择伺服电机。
其次,对腹腔微创手术机器人进行运动学及动力学分析。采用D-H法,求出机器人的运动学正解;运用几何法给出机器人运动学逆解的解析解;采用矢量积法给出机器人的雅可比矩阵;并采用拉格朗日-欧拉法对机器人进行动力学仿真,获得机器人各关节力矩曲线,验证所选电机的合理性。
再次,对腹腔微创手术机器人进行术前臂形设置研究。在对冗余自由度机器人进行运动学研究的基础上,给出用于冗余自由度机器人运动学优化的改进的梯度投影算法;结合实际手术需要,分别给出手术器械操作臂臂形设置的目标优化函数以及多臂协调操作臂形设置的目标优化函数,并利用改进的梯度投影算法,采用Matlab软件对机器人臂形设置情况进行仿真研究。
最后,利用虚拟样机技术对机器人臂形设置情况及典型运动方式进行模拟仿真,观察机器人的实际运行效果,并绘制关节角曲线,验证机器人臂形设置算法及平行四边形机构设计的合理性;之后,针对已加工出的机器人本体进行相关实验研究。
Minimally invasive surgery (MIS) is quickly developing and widely used due to the advantages of shorting the recovery time and reducing the tissue damages incurred from incision. The use of robot into minimally invasive surgery is gradually accepted by surgeon by virtue of enhancing quality of minimally invasive surgery, reducing the surgeon’s intensity of labour, therefore, Surgical robot technology and its equipment have gradually become the hotspot in the research field of medical robotics and have attracted the interest of robotic researchers.
The work is supported by the National 863 high-tech project“Research on minimally invasive Robot for laparoscopic surgery”. An innovative minimally invasive robot is developed. According to structure of surgical robot, kinematics and dynamics is analyzed, the research about the arm configuration is carried out, and the typical motion mode is simulated by ADAMS software at last.
Firstly, the mechanical structure of minimally invasive robot is designed. According to clinical environment of minimally invasive surgery and analyzing the requirement of minimally invasive surgery, the structure types of robots is determined. Moreover, the mechanical structure of robot is designed in detail. Depending on the surgical need, the arm length is optimized, the mechanical analysis is carried out and servo-motor is selected in the end.
Secondly, the kinematics and dynamics of the robot is analyzed. The forward and inverse kinematics is solved by D-H method and geometric method, and Jacobian matrix is calculated using vector product method, respectively. The torque graph is got with dynamics software, and the rationalization of motor is validated.
Thirdly, the arm configuration optimization is carried out. Based on the research about the kinematics of redundant arm, the Gradient Projection Method (GPM) which is used for kinematics optimization is submitted. According to the actual needs, the performance index functions are constructed which are used for task-weighted multiple performance optimization and dual redundant arm configuration optimization. In the end, the algorithm is simulated with MATLAB.
Finally, the results of manipulator configuration optimization are simulated by Virtual Prototype Technology (VPT). The virtual robot model is built using Pro/E and then the model is transferred to ADAMS using M/Pro. The actual operation of the robot is simulated and the paper gives the joint angle curves. The rationalization of the algorithm and the parallelogram linkage are validated.
结合国家“863”计划资助项目“腹腔微创手术机器人系统研究”,本文对腹腔微创手术机器人从手系统进行详细的结构设计及运动学与动力学分析;在此基础上结合实际手术过程的需要,对机器人臂形设置情况进行相关理论研究;最后,利用ADAMS软件对机器人臂形设置情况以及典型运动方式进行模拟仿真,并进行相关实验研究。
本文首先对腹腔微创手术机器人从手系统进行结构设计。在对腹腔微创手术作业进行分析的基础上,确定机器人的最终构型方案,并进行详细的结构设计;结合手术需要对机器人进行臂长优化;根据手术过程中机器人各关节的受力情况,对其关键零部件进行力学分析,并最终选择伺服电机。
其次,对腹腔微创手术机器人进行运动学及动力学分析。采用D-H法,求出机器人的运动学正解;运用几何法给出机器人运动学逆解的解析解;采用矢量积法给出机器人的雅可比矩阵;并采用拉格朗日-欧拉法对机器人进行动力学仿真,获得机器人各关节力矩曲线,验证所选电机的合理性。
再次,对腹腔微创手术机器人进行术前臂形设置研究。在对冗余自由度机器人进行运动学研究的基础上,给出用于冗余自由度机器人运动学优化的改进的梯度投影算法;结合实际手术需要,分别给出手术器械操作臂臂形设置的目标优化函数以及多臂协调操作臂形设置的目标优化函数,并利用改进的梯度投影算法,采用Matlab软件对机器人臂形设置情况进行仿真研究。
最后,利用虚拟样机技术对机器人臂形设置情况及典型运动方式进行模拟仿真,观察机器人的实际运行效果,并绘制关节角曲线,验证机器人臂形设置算法及平行四边形机构设计的合理性;之后,针对已加工出的机器人本体进行相关实验研究。
Minimally invasive surgery (MIS) is quickly developing and widely used due to the advantages of shorting the recovery time and reducing the tissue damages incurred from incision. The use of robot into minimally invasive surgery is gradually accepted by surgeon by virtue of enhancing quality of minimally invasive surgery, reducing the surgeon’s intensity of labour, therefore, Surgical robot technology and its equipment have gradually become the hotspot in the research field of medical robotics and have attracted the interest of robotic researchers.
The work is supported by the National 863 high-tech project“Research on minimally invasive Robot for laparoscopic surgery”. An innovative minimally invasive robot is developed. According to structure of surgical robot, kinematics and dynamics is analyzed, the research about the arm configuration is carried out, and the typical motion mode is simulated by ADAMS software at last.
Firstly, the mechanical structure of minimally invasive robot is designed. According to clinical environment of minimally invasive surgery and analyzing the requirement of minimally invasive surgery, the structure types of robots is determined. Moreover, the mechanical structure of robot is designed in detail. Depending on the surgical need, the arm length is optimized, the mechanical analysis is carried out and servo-motor is selected in the end.
Secondly, the kinematics and dynamics of the robot is analyzed. The forward and inverse kinematics is solved by D-H method and geometric method, and Jacobian matrix is calculated using vector product method, respectively. The torque graph is got with dynamics software, and the rationalization of motor is validated.
Thirdly, the arm configuration optimization is carried out. Based on the research about the kinematics of redundant arm, the Gradient Projection Method (GPM) which is used for kinematics optimization is submitted. According to the actual needs, the performance index functions are constructed which are used for task-weighted multiple performance optimization and dual redundant arm configuration optimization. In the end, the algorithm is simulated with MATLAB.
Finally, the results of manipulator configuration optimization are simulated by Virtual Prototype Technology (VPT). The virtual robot model is built using Pro/E and then the model is transferred to ADAMS using M/Pro. The actual operation of the robot is simulated and the paper gives the joint angle curves. The rationalization of the algorithm and the parallelogram linkage are validated.
引文
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2. J. Ma, Berkelman, Peter. Task Evaluations of a Compact Laparoscopic Surgical Robot System. IEEE International Conference on Intelligent Robots and Systems, San Dieg, 2007: 5597~5600
3. L. N. Sun, J. W. Zhao, Z. J. Du, W. Dong. Development of a Nurse Robot Served in Infectious Disease Isolation Wards. High Technology Letters. 2007, 13(3): 261~266
4.良明.机器人辅助微创外科手术的发展.中国医疗器械信息. 2003, 9(2): 16~18
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8. P. A. Finlay, M. H. Ornstein. Controlling the Movement of a Surgical laparoscope. IEEE Engineering in Medicine and Biology. 1995, 14(3): 289~291
9. F. Bourger, C. Doignon, P. Zanne, M. D. Mathelin. A Model-free Vision-based Robot Control for Minimally Invasive Surgery Using ESM Tracking and Pixels Color Selection. IEEE International Conference on Robotics and Automation, Roma, 2007: 3579~3584
10. J. Dankelman. Surgical Robots and Other Training Tools in Minimally Invasive Surgery. IEEE International Conference on Systems, Man and Cybernetics, Hague, 2004: 2459~2464
11. G. S. Guthart, J. K. Salisbury, Jr. The Intuitive telesurgery System: Overview and Application. IEEE International Conference on Robotics and Automation, San Francisco, 2000: 618~621
12. M. Ghodoussi, S. E. Butner, Y. Wang. Robotic Surgery-the Transatlantic case. IEEE International Conference on Robotics and Automation, Washington, 2002: 1882~1888
13. D. P. Noonan, G. P. Mylonas, A. Darzi, G. Z. Yang. Gaze Contingent Articulated Robot Control for Robot Assisted Minimally Invasive Surgery. IEEE/RSJ International Conference on Intelligent Robotics and Systems, Nice, 2008: 1186~1191
14. S. Gulati, E. H. Jung, C. Kapoor. Execution Engine for Robotic Surgery Support Functions in an Unmanned Operating Room. IEEE International Conference on Robotics and Automation, Jacksonville, 2007: 404~409
15. Patrick, A. Finlay. Robotic controlled endoscopic manipulator. Published by the IEEE, London, 1996: 37~43
16.孙立宁,张健,杜志江.一种基于图像导航的骨外科手术机器人系统.哈尔滨工程大学学报. 2006, 27(2): 285~289
17.武胜,王田苗.面向脑外科微创手术的医疗机器人系统.机器人技术与应用. 2003, (4): 48~21
18.王树新,丁杰男,貟今天,李群致,韩保平.显微外科手术机器人-“妙手”系统的研究.机器人. 2006, 28(2): 130~135
19.丁杰男.显微外科手术机器人系统(MicroHand)的研究与开发.天津大学硕士学位论文. 2004: 7~13
20. A. Faraz, S. Payanceh. A Robotic Case Study: Optimal Design for Laparoscopic Positioning Stands. IEEE International Conference on Robotics and Automation, Albuquerque, 2000: 1553~1560
21. E. Kobayashi, K. Masamune, I. Sakuma, T. Dohi. A New Safe Laparoscopic Manipulator System with a Fiv-Bar Linkage Mechanism and an Optical Zoom. Computer Aided Surgery. 1999, (4): 182~192
22. M. J. H. Lum, J. Rosen, M. N. Sinanan, B. Hannaford. Kinematic Optimization of a Spherical Mechanism for a Minimally invasive Surgical Robot. IEEE International Conference on Robotics and Automation, New Orieans, 2004: 829~834
23. J. Rosen, M. Lum, D. Trimble, B. B.Hannaford. Spherical Mechanism Analysis a Surgical Robot for Minimally Invasive Surgery-Analytical and Experimental Approaches. Studies in Health Technology and Informatics-Medicine Meets Virtual Realith, 2005, (111): 422~428
24.王小忠,孟正大.机器人运动规划方法的研究.控制工程. 2004, 11(3): 280~284
25. D. H. Kim. Self-organization for Multi-agent Groups. International Journal ofControl Automation and Systems. 2004, (2): 342~351
26. R V Dubey. An efficien Gradient Projection Optimization Scheme for a Seven Degree of Freedom Redundant Robot with Spherical Wrist. IEEE International Conference on Robotics and Automation, Scottsdale, 1989: 28~36
27. A Liegeois. Automatic Supervisory Control of the Configuration and Behavior of Multibody Mechanisms. IEEE Transactions on Systems, Man, and Cybernetics, 1977, 7(12): 868~871
28. T F Chan, R V Dubey. A weighted Least-Norm Solution Based Scheme for Avoiding Joint Limits for Redundant Manipulators. IEEE International Conference on Robotics and Automation, 1993: 395~402
29. H. Mitsuhiro, S. Naoki, H. Makoto, K. Kozo. Robotic Surgery Setup Simulation with the Intergration of Inverse-kinematics Computation and Medical Imaging. Computer Methods and Programs in Biomedicine. 2006, 83(1): 63~72
30. A. M. Karim, W. Yu, J. Z. Yang. Placement of Robot Manipulators to Maximize Dexterity. International Journal of Robotics and Automation. 2004, 19(1): 6~14
31. V. F. Munoz, J. Fernandez, etc. On Lapaproscopic Robot Design and Validation. Integrated Computer-Aided Engineering, 2003, (10): 211~219
32. U. Sezgin, L. D. Seneviratne, S. W. E. Earles. Collision Avoidance in Multiple-Redundant Manipulators. The International Journal of Robotics Research. 1997, 16(5): 714~724
33. O. Tobias, W. Holger, F. Volkmar. Design Requirements for a New Robot for Minimally Invasive Surgery. Industrial Robot, 2004, 31(6): 493~498
34.李群智.机器人辅助显微外科手术系统的研究与开发.天津大学硕士论文. 2004: 23~34
35. (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: 26~78
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37. Ali Faraz, Shahram Payandeh. A Robotic Case Study: Optimal Design for Laparoscopic Positioning Stands. IEEE International Conference on Roboticsand Automation, 1997: 1553~1560
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2. J. Ma, Berkelman, Peter. Task Evaluations of a Compact Laparoscopic Surgical Robot System. IEEE International Conference on Intelligent Robots and Systems, San Dieg, 2007: 5597~5600
3. L. N. Sun, J. W. Zhao, Z. J. Du, W. Dong. Development of a Nurse Robot Served in Infectious Disease Isolation Wards. High Technology Letters. 2007, 13(3): 261~266
4.良明.机器人辅助微创外科手术的发展.中国医疗器械信息. 2003, 9(2): 16~18
5. Y. J. Lee, K. Jonathan, S. Y. Ko, W. J. Lee. Design of a Compact Laparoscopic Assistant Robot. KALAR. ICCAS, 2003: 158~170
6.杜志江,孙立宁,富历新.医疗机器人发展概况综述.机器人. 2003, 25(2): 182~187
7.丑武胜,王田苗.医用机器人与数字化医疗仪器设备的研究与发展.机器人技术与应用. 2003, (4): 7~11
8. P. A. Finlay, M. H. Ornstein. Controlling the Movement of a Surgical laparoscope. IEEE Engineering in Medicine and Biology. 1995, 14(3): 289~291
9. F. Bourger, C. Doignon, P. Zanne, M. D. Mathelin. A Model-free Vision-based Robot Control for Minimally Invasive Surgery Using ESM Tracking and Pixels Color Selection. IEEE International Conference on Robotics and Automation, Roma, 2007: 3579~3584
10. J. Dankelman. Surgical Robots and Other Training Tools in Minimally Invasive Surgery. IEEE International Conference on Systems, Man and Cybernetics, Hague, 2004: 2459~2464
11. G. S. Guthart, J. K. Salisbury, Jr. The Intuitive telesurgery System: Overview and Application. IEEE International Conference on Robotics and Automation, San Francisco, 2000: 618~621
12. M. Ghodoussi, S. E. Butner, Y. Wang. Robotic Surgery-the Transatlantic case. IEEE International Conference on Robotics and Automation, Washington, 2002: 1882~1888
13. D. P. Noonan, G. P. Mylonas, A. Darzi, G. Z. Yang. Gaze Contingent Articulated Robot Control for Robot Assisted Minimally Invasive Surgery. IEEE/RSJ International Conference on Intelligent Robotics and Systems, Nice, 2008: 1186~1191
14. S. Gulati, E. H. Jung, C. Kapoor. Execution Engine for Robotic Surgery Support Functions in an Unmanned Operating Room. IEEE International Conference on Robotics and Automation, Jacksonville, 2007: 404~409
15. Patrick, A. Finlay. Robotic controlled endoscopic manipulator. Published by the IEEE, London, 1996: 37~43
16.孙立宁,张健,杜志江.一种基于图像导航的骨外科手术机器人系统.哈尔滨工程大学学报. 2006, 27(2): 285~289
17.武胜,王田苗.面向脑外科微创手术的医疗机器人系统.机器人技术与应用. 2003, (4): 48~21
18.王树新,丁杰男,貟今天,李群致,韩保平.显微外科手术机器人-“妙手”系统的研究.机器人. 2006, 28(2): 130~135
19.丁杰男.显微外科手术机器人系统(MicroHand)的研究与开发.天津大学硕士学位论文. 2004: 7~13
20. A. Faraz, S. Payanceh. A Robotic Case Study: Optimal Design for Laparoscopic Positioning Stands. IEEE International Conference on Robotics and Automation, Albuquerque, 2000: 1553~1560
21. E. Kobayashi, K. Masamune, I. Sakuma, T. Dohi. A New Safe Laparoscopic Manipulator System with a Fiv-Bar Linkage Mechanism and an Optical Zoom. Computer Aided Surgery. 1999, (4): 182~192
22. M. J. H. Lum, J. Rosen, M. N. Sinanan, B. Hannaford. Kinematic Optimization of a Spherical Mechanism for a Minimally invasive Surgical Robot. IEEE International Conference on Robotics and Automation, New Orieans, 2004: 829~834
23. J. Rosen, M. Lum, D. Trimble, B. B.Hannaford. Spherical Mechanism Analysis a Surgical Robot for Minimally Invasive Surgery-Analytical and Experimental Approaches. Studies in Health Technology and Informatics-Medicine Meets Virtual Realith, 2005, (111): 422~428
24.王小忠,孟正大.机器人运动规划方法的研究.控制工程. 2004, 11(3): 280~284
25. D. H. Kim. Self-organization for Multi-agent Groups. International Journal ofControl Automation and Systems. 2004, (2): 342~351
26. R V Dubey. An efficien Gradient Projection Optimization Scheme for a Seven Degree of Freedom Redundant Robot with Spherical Wrist. IEEE International Conference on Robotics and Automation, Scottsdale, 1989: 28~36
27. A Liegeois. Automatic Supervisory Control of the Configuration and Behavior of Multibody Mechanisms. IEEE Transactions on Systems, Man, and Cybernetics, 1977, 7(12): 868~871
28. T F Chan, R V Dubey. A weighted Least-Norm Solution Based Scheme for Avoiding Joint Limits for Redundant Manipulators. IEEE International Conference on Robotics and Automation, 1993: 395~402
29. H. Mitsuhiro, S. Naoki, H. Makoto, K. Kozo. Robotic Surgery Setup Simulation with the Intergration of Inverse-kinematics Computation and Medical Imaging. Computer Methods and Programs in Biomedicine. 2006, 83(1): 63~72
30. A. M. Karim, W. Yu, J. Z. Yang. Placement of Robot Manipulators to Maximize Dexterity. International Journal of Robotics and Automation. 2004, 19(1): 6~14
31. V. F. Munoz, J. Fernandez, etc. On Lapaproscopic Robot Design and Validation. Integrated Computer-Aided Engineering, 2003, (10): 211~219
32. U. Sezgin, L. D. Seneviratne, S. W. E. Earles. Collision Avoidance in Multiple-Redundant Manipulators. The International Journal of Robotics Research. 1997, 16(5): 714~724
33. O. Tobias, W. Holger, F. Volkmar. Design Requirements for a New Robot for Minimally Invasive Surgery. Industrial Robot, 2004, 31(6): 493~498
34.李群智.机器人辅助显微外科手术系统的研究与开发.天津大学硕士论文. 2004: 23~34
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36. Mitchell J.H. Lum, Jacob Rosen, Mika N. Sinanan, Blake Hannaford. Kinematic Optimization of a Spherical Mechanism for a Minimally Invasive Surgical Robot. IEEE International Conference on Robotics and Automation, 2004: 829~834
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