34 6 12 11 ROBOT Vol.34, No.6 Nov., 12 DOI.3724/SP.J.1218.12.646 1,2 1 1 1 2 1. 158 2. 151 TP241 A 2-446(12)-6-646-6 Mater-slave Control Technology for Abdominal Minimally Invasive Surgery Robot and Its Experiments PAN Bo 1,2 FU Yili 1 FENG Mei 1 WANG Shuguo 1 XU Dianguo 2 (1. State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin 158, China; 2. School of Electrical Engineering and Automation, Harbin Institute of Technology, Harbin 151, China) Abstract: According to task features of RMIS (robot-assisted minimally invasive surgery), based on the functional requirement analyses of master-slave control, a hardware platform of robot master-slave control system is constructed by adopting control architecture of industrial computer and motion control card. A real-time control algorithm of master-slave operation is investigated based on differential transformation method, and then the auxiliary function of master-slave control is designed. Master-slave control experiment, experiment on biological tissue and animal experiment are carried out after robot system integration. Experiments demonstrate that the system has good master-slave control performance, which satisfies the actual demand of minimally invasive surgery. Keywords: minimally invasive surgery; robot configuration; master-slave operation; animal experiment 1 Introduction 4 6.5 cm 1 cm [1] Computer Motion AESOP [2] Zeus [3] Intuitive Surgical da Vinci [4] da Vinci 863 SS12AA4161HIT. NSRIF. 1352 11M5654 panbo34@163.com 12-5-21/12-7-/12-9-3
34 6 647 [5] A [6] [7] 2 Configuration of the robot Omega 7. 7 2 3 3 3 7 1 2 4 5 7 7 1 dxdydz xyz dαdβ dηdγ 4 Z O Z Z 2 3 Z 3 q 4 q Z 3 1 2 4 q 2 X X 3 2 d 1 X 1 1 Y Fig.1 X dη 1 dy dz dγ X Z 4 4 q 5 5 dα dx 6 X 5 β d 7 7 θ 6 X 6 Z 5 Z6 X 7 (p Z x,p y,p z ) 7 dβ Picture of the robot s configuration 3 Mater-slave control technology 3.1 2 3.2 7 5 7 4 5 7 4 3 3.3 xyz 7
648 12 11 USB RS232 PC / A B 1 2 4 5 6 7 811 Fig.2 2 Hardware architecture of the master-slave control system Fig.3 dz dx dy dα dβ dη dγ dz 3 k 1 k k 2 k 3 k 4 k 5 dθ 7 dθ 8 dθ 9 dθ dθ 11 dθ 5 dθ 6 dθ 7 7 5 6 7 1 2 3 4 Analysis on master-slave mapping for the robot [8] 1 4 1 4 5 7 {o} (p x, p y, p z ) 4 {o 4 } (p x, p y, p z) {o 4 } 5 7 θ 5 θ 6 d 7 {o 4 } [ p x p y p z 1 ] T = ( T 4 ) 1[ p x p y p z 1 ] T w q j (1) w = x(q j ) j = 1,2,3 (2) x(q j + q j ) =x(q j ) + x(q j ) (q j ) q j + + 1 n! n x(q j ) n (q j ) ( q j ) n (3) e x(q j + q j ) = x(q j ) + x(q j ) (q j ) q j + e (4) w q j w = x(q j + q j ) x(q j ) = J(q j ) q j + e (5)
34 6 649 J(q) e J(q) = w q j = x(q j ) q j (6) 56 7 [ ] T θ5 θ 6 d 7 = J 1 (q j ) [ ] p x p y p T z (7) e 4 ẊX m k q s s X m X s X s X m X s e J Fig.4 k 1/s kx m kx m +e J X m + + 4 + s e J X s J 1 (q s ) 5 T 7 q s The error feedback compensation for inverse kinematics 3.4 2 6 2 4 56 k 1 : 1 3 : 15 : 1 q s 1/s q s k 1 3 4 Experiment 4.1 4 4 8 mm 8 mm 4 Optotrak Centus 5 6 Marker
65 12 11 Marker 8 7 6 5 3 z /mm Fig.5 23 23 236 238 5 The master-slave control experiment 3 5 6 7 8 (a) x 3 3 5 6 7 8 (b) y 7 Fig.7 Movement trajectory of the master manipulator 2 24 6 8 6 6 Fig.6 Movement trajectory of the end of the instrument xy 7 5 6 8 4.2 9 3 3 5 6 7 8 (a) x 3 3 5 6 7 8 Fig.8 8 (b) y Movement trajectory of slave manipulator xyz 1 : 1 s 2 : 1 xyz
34 6 651 Fig.9 z /mm Fig. 3 9 Pictures of the experiment of operation on biological tissue 3 3 5 6 7 (a) x 6 6 3 5 6 7 (b) y 5 5 15 1:1 1:1 1:1 2:1 2:1 2:1 25 3 5 6 7 (c) z 4.3 x,y,z Movement trajectories of the master-slave manipulator in x,y,z directions kg 11 3 h 15 ml 25 ml 6 min 7 h Fig.11 11 5 Conclusion Pictures of animal experiment References [1] [J] 39(2): 16-18. Lin L M. The development of robot-assisted minimally invasive surgery[j]. China Medical Device Information, 3, 9(2): 16-18. [2] Dankelman J. Surgical robots and other training tools in minimally invasive surgery[c]//ieee International Conference on Systems, Man and Cybernetics. Piscataway, NJ, USA: IEEE, 4: 2459-2464. [3] Ginhoux R, Gangloff J, de Mathelin M, et al. Active filtering of physiological motion in robotized surgery using predictive control[j]. IEEE Transactions on Robotics, 5, 21(1): 67-79. [4] Broeders I A M J, Ruurda J. Robotics revolutionizing surgery: The intuitive surgical Da Vinci system[j]. Industrial Robot, 1, 28(5): 387-391. [5] [J]426(6): 543-547,552. Tang C, Wang T M, Chou W S, et al. Design and realization of robot control system for neurosurgery[j]. Robot, 4, 26(6): 543-547,552. 679
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