医疗遥操作机器人.doc
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医疗遥操作机器人,摘要在当前医疗机器人应用领域中，穿刺手术成为研究的热点。由于穿刺过程中穿刺针与软组织发生形变，导致实际穿刺位置和目标靶点出现偏差，这使得实际穿刺手术的治疗效果大大降低。目前，研究多集中在网络通信和局域网遥操作，以便减小通信时延来提高位置和力的跟踪效果，而忽视了遥穿刺手术中穿刺针形变而引起...
内容介绍
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摘 要
在当前医疗机器人应用领域中，医疗遥操作机器人穿刺手术成为研究的热点。由于穿刺过程中穿刺针与软组织发生形变，导致实际穿刺位置和目标靶点出现偏差，这使得实际穿刺手术的治疗效果大大降低。目前，医疗遥操作机器人研究多集中在网络通信和局域网遥操作，以便减小通信时延来提高位置和力的跟踪效果，而忽视了遥穿刺手术中穿刺针形变而引起的偏差。目前在穿刺手术中缺少对软组织因受力而产生的具体形变量的分析和穿刺针针尖轨迹规划的基础研究。
本文针对上述存在的问题进行了相应的分析和研究，本文主要内容包括：
第一，为了提高机器人辅助针穿刺软组织的精度，减小穿刺误差，建立了柔性穿刺针的弹性悬臂梁物理模型，提出了一种穿刺针受力分析的有限元算法,并对模型进行理论计算和 仿真，得到了穿刺针元素结点的挠度和偏转角度，验证了算法的有效性。
第二，为了得到软组织在穿刺力作用下的形变量和穿刺力与软组织形变量的关系，本文通过对二维软组织使用准静态有限元分析法，将软组织形变的连续动态过程离散成静态有限元模型，对二维软组织和三维软组织进行有限元仿真，得到软组织各结点的形变位移和力的分布云图。结果表明：作用在同一点的线性软组织的形变量和穿刺力成正比，分步载荷的效果叠加与各载荷步同时作用效果一致。
第三，为了得到穿刺针针尖在穿刺过程中的具体轨迹，通过将穿刺过程离散化，在考虑穿刺针形变、穿刺角度和穿刺针基座竖直坐标的控制量基础上，计算穿刺过程针尖每一时刻的坐标，进而得到穿刺针针尖的运动轨迹，仿真结果表明:影响穿刺针针尖轨迹的主要因素是针基座竖直坐标的控制量和穿刺角度，穿刺针形变对穿刺针轨迹的影响较小。
最后，为了进行软组织穿刺插针仿真实验，改进了单自由度遥操作机器人，设计了主从手控制器，通过仿真验证了控制器的有效性；并在LabVIEW软件平台下，实现了数据采集、串口通信、网络通讯，验证了所设计的滑模变结构控制器。实验结果表明：该系统实现了从手对主手位置跟踪以及主手对从手力跟踪。
关键词 遥操作机器人；穿刺针；软组织；形变；有限元
Abstract
In the current field of application for medical robot, teleoperation robot puncture surgery becomes a focus of research. There often lead to deviation between actual puncture position and goal targets in the process of piercing due to deformation of puncture needle and soft tissue. In order to reduce communication delay and improve tracking effect of position and force, the vast majority of research on network communication and local area network teleoperation, therefore ignore deflection caused by puncture needle curve in tele-puncture operation. There are lacking of quantitative deformation analysis of soft tissue applied force and fundamental research of tip trajectory planning in piercing operation.
This paper analysis and study the problems mentioned above. The main research works are as follows:
Firstly, In order to reduce deflection of the puncture needle and increase the accuracy of the robot-assisted needle insertion into soft tissue, the physical model of puncture needle is built with elastic cantilever beam. The algorithm is proposed to analyze force added on puncture needle and obtain the deflection and angle of element node. The theoretical calculation and experimental simulation results show the validation and consistency of the algorithm.
Secondiy, In order to obtain relationship between deformation size and force, dynamic process of the soft tissue deformation during needle insertion is decomposed into series of discrete quasi-static stages. Every note’s displacement and force distribution of the soft tissue is acquired by simulating needle insertion into two and three dimensional tissue. The simulation results show that deformation is proportional to the force; step-by-step load effect is agreed with combined action.
Thirdly, In order to get tip trajectory of puncture needle, piercing process is decomposed into a set of discrete quasi-static process. Getting tip trajectory by calculating needle tip coordinate at every moment, in which coupling of needle deformation, puncture angle and needle base vertical coordinate are considered. The simulation results showed that the elastic deformation of puncture needle does not affect needle tip trajectory evidently, and the main factors of effects on needle tip trajectory are the puncture needle vertical coordinate and initial puncture angle.
Finally, In order to carry out needle insertion into soft tissue experiment, improving original SDOF teleoperation experimental system, and designing the controller of Master-Slave hands. The simulation results show the validation of the controller. The LabVIEW platform of the system is established for data acquisition, serial port communication, network communication and verifying the validation of sliding mode controller. The experiment result showed that the system realized the position and force tracking.
Keywords teleoperation robot; puncture needle; soft tissue; deformation; FEM
目 录
摘 要 I
Abstract III
第1章 绪论 1
1.1 医疗遥操作机器人系统简介 1
1.1.1 医疗遥操作机器人的概念 1
1.1.2 医疗机器人的分类 1
1.1.3 医疗遥操作机器人穿刺手术系统 2
1.1.4 医疗遥操作机器人的特点 4
1.2 医疗遥操作机器人的研究背景与意义 4
1.2.1 医疗遥操作机器人研究背景 ..
在当前医疗机器人应用领域中，医疗遥操作机器人穿刺手术成为研究的热点。由于穿刺过程中穿刺针与软组织发生形变，导致实际穿刺位置和目标靶点出现偏差，这使得实际穿刺手术的治疗效果大大降低。目前，医疗遥操作机器人研究多集中在网络通信和局域网遥操作，以便减小通信时延来提高位置和力的跟踪效果，而忽视了遥穿刺手术中穿刺针形变而引起的偏差。目前在穿刺手术中缺少对软组织因受力而产生的具体形变量的分析和穿刺针针尖轨迹规划的基础研究。
本文针对上述存在的问题进行了相应的分析和研究，本文主要内容包括：
第一，为了提高机器人辅助针穿刺软组织的精度，减小穿刺误差，建立了柔性穿刺针的弹性悬臂梁物理模型，提出了一种穿刺针受力分析的有限元算法,并对模型进行理论计算和 仿真，得到了穿刺针元素结点的挠度和偏转角度，验证了算法的有效性。
第二，为了得到软组织在穿刺力作用下的形变量和穿刺力与软组织形变量的关系，本文通过对二维软组织使用准静态有限元分析法，将软组织形变的连续动态过程离散成静态有限元模型，对二维软组织和三维软组织进行有限元仿真，得到软组织各结点的形变位移和力的分布云图。结果表明：作用在同一点的线性软组织的形变量和穿刺力成正比，分步载荷的效果叠加与各载荷步同时作用效果一致。
第三，为了得到穿刺针针尖在穿刺过程中的具体轨迹，通过将穿刺过程离散化，在考虑穿刺针形变、穿刺角度和穿刺针基座竖直坐标的控制量基础上，计算穿刺过程针尖每一时刻的坐标，进而得到穿刺针针尖的运动轨迹，仿真结果表明:影响穿刺针针尖轨迹的主要因素是针基座竖直坐标的控制量和穿刺角度，穿刺针形变对穿刺针轨迹的影响较小。
最后，为了进行软组织穿刺插针仿真实验，改进了单自由度遥操作机器人，设计了主从手控制器，通过仿真验证了控制器的有效性；并在LabVIEW软件平台下，实现了数据采集、串口通信、网络通讯，验证了所设计的滑模变结构控制器。实验结果表明：该系统实现了从手对主手位置跟踪以及主手对从手力跟踪。
关键词 遥操作机器人；穿刺针；软组织；形变；有限元
Abstract
In the current field of application for medical robot, teleoperation robot puncture surgery becomes a focus of research. There often lead to deviation between actual puncture position and goal targets in the process of piercing due to deformation of puncture needle and soft tissue. In order to reduce communication delay and improve tracking effect of position and force, the vast majority of research on network communication and local area network teleoperation, therefore ignore deflection caused by puncture needle curve in tele-puncture operation. There are lacking of quantitative deformation analysis of soft tissue applied force and fundamental research of tip trajectory planning in piercing operation.
This paper analysis and study the problems mentioned above. The main research works are as follows:
Firstly, In order to reduce deflection of the puncture needle and increase the accuracy of the robot-assisted needle insertion into soft tissue, the physical model of puncture needle is built with elastic cantilever beam. The algorithm is proposed to analyze force added on puncture needle and obtain the deflection and angle of element node. The theoretical calculation and experimental simulation results show the validation and consistency of the algorithm.
Secondiy, In order to obtain relationship between deformation size and force, dynamic process of the soft tissue deformation during needle insertion is decomposed into series of discrete quasi-static stages. Every note’s displacement and force distribution of the soft tissue is acquired by simulating needle insertion into two and three dimensional tissue. The simulation results show that deformation is proportional to the force; step-by-step load effect is agreed with combined action.
Thirdly, In order to get tip trajectory of puncture needle, piercing process is decomposed into a set of discrete quasi-static process. Getting tip trajectory by calculating needle tip coordinate at every moment, in which coupling of needle deformation, puncture angle and needle base vertical coordinate are considered. The simulation results showed that the elastic deformation of puncture needle does not affect needle tip trajectory evidently, and the main factors of effects on needle tip trajectory are the puncture needle vertical coordinate and initial puncture angle.
Finally, In order to carry out needle insertion into soft tissue experiment, improving original SDOF teleoperation experimental system, and designing the controller of Master-Slave hands. The simulation results show the validation of the controller. The LabVIEW platform of the system is established for data acquisition, serial port communication, network communication and verifying the validation of sliding mode controller. The experiment result showed that the system realized the position and force tracking.
Keywords teleoperation robot; puncture needle; soft tissue; deformation; FEM
目 录
摘 要 I
Abstract III
第1章 绪论 1
1.1 医疗遥操作机器人系统简介 1
1.1.1 医疗遥操作机器人的概念 1
1.1.2 医疗机器人的分类 1
1.1.3 医疗遥操作机器人穿刺手术系统 2
1.1.4 医疗遥操作机器人的特点 4
1.2 医疗遥操作机器人的研究背景与意义 4
1.2.1 医疗遥操作机器人研究背景 ..
