Method for improving transparency and stability of master-slave remote teleoperation surgery system

Abstract

The invention relates to a method for improving transparency and stability of a master-slave remote teleoperation surgery system. The method includes steps: 1) establishing a far-end patient focus tissue mathematical model, and identifying model parameters; 2) according to the model parameters obtained at the step 1), establishing a virtual human body model in a master controller of a surgeon console to simulate human body tissue kinetic characteristics; according to a passivity-based control principle, establishing a passive observer of the teleoperation system, and sequentially judging whether the teleoperation system is active or not; 3) when the teleoperation system is passive, directly feeding a far-end surgery operation acting force with time delay back to an operator of the master controller through a network channel; if the teleoperation system is active, feeding an acting force calculated according to the virtual human body model in the master controller back to the operator of the master controller. Compared with the prior art, the method has advantage that system transparency is guaranteed to the greatest extent while system stability is guaranteed as well.

Description

technical field [0001] The invention relates to a master-slave teleoperation operation system, in particular to a method for improving the transparency and stability of the master-slave teleoperation operation system. Background technique [0002] In recent years, robot technology with a master-slave teleoperation structure has been introduced into minimally invasive surgery, which has greatly improved the accuracy and safety of minimally invasive surgery. When using a master-slave surgical robot, in order to achieve safer and finer minimally invasive surgery, the surgeon on the master console very much hopes to feel the surgical operation force at the end of the slave surgical instrument. This requirement is defined as the transparency of the master-slave system in the teleoperation technology. Another requirement of the master-slave teleoperation system is system stability. When the teleoperation system faces some uncertain factors, such as jitter introduced by the opera...

AI Technical Summary

Problems solved by technology

Compared with the original passive theory, the wave variable theory improves the transparency of the system under the premise of ensuring the stability of the system, but this method will lead to large position tracking deviation and feedback force noise

In recent years, literature ["Improving Haptic Feedback Fidelity in WaveVariable Based Teleoperation Orientated to Telemedical Applications" (Y.Ye, P.X.Liu, IEEE-ASME Transactions on Mechatronics, 2009,58(8):2847-2855)], literature [" ReducingWave Based Teleoperator Reflections for Unknown Environments"(L.Bate,C.D.Cook,Z.Li,IEEE Transactions on Industrial Electronics,2011,58(2):392-397)] and literature ["Achieving Stable Tracking in Wave Variable Based Teleoperation "(H.Li,K.Kawashima,IEEE-ASME Transactions on Mechatronics,2014,19(5):1574-1582)] and others respectively proposed improved methods for wave variable position tracking and force feedback effects based on passive theory , but neither position tracking error nor force feedback noise is completely eliminated

The literature "Four-channel bilateral teleoperation control system based on real force feedback" (Chinese invention patent application number: 201210349978.X) designed a four-channel bilateral control method to meet the position and force tracking performance of nonlinear systems, but the method It can only solve the constant delay problem of teleoperation system

The document "Nonlinear Teleoperation System Position and Force Tracking Control System with Time-Varying Delay" (Chinese Patent Application No.: 201410100599.6) designed a position and force tracking control system for nonlinear teleoperation system with time-varying delay , but this method does not give specific indicators for the stability and transparency of the remote operating system

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