Modeling method for simplified kinematic model of minimally invasive surgical robot

Abstract

The invention discloses a modeling method for a simplified kinematic model of a minimally invasive surgical robot. The method includes the steps of creating a homogeneous transformation matrix of a main wrist point based on a basic coordinate system of a main hand; according to the homogeneous transformation matrix of the main hand, a preset basic coordinate rotation mapping matrix and a proportion mapping coefficient of the main hand and a subordinate hand, obtaining the position of a writ point of the subordinate hand based on a basic coordination system of the subordinate hand; according to the homogeneous transformation matrix of a position control movement joint of the subordinate hand and the position of the wrist point, creating an equation, and figuring out an angle value and/or position value of the position control movement joint of the subordinate hand; according to the one-to-one corresponding relation between a posture angle of the main hand at the position of the wrist point and the posture angle of the subordinate hand at the wrist point of the subordinate hand, creating an equation, and then figuring out the angle value and /or position value of a posture control movement joint of the subordinate hand. According to the method for the simplified kinematic model of the minimally invasive surgical robot, on the basis of an idea of separating the position from the posture, the complex degree of kinematic calculation can be simplified, and the real-time index of a control system is improved.

Description

technical field [0001] The invention relates to the technical field of robot modeling, in particular to a modeling method for a simplified kinematics model of a minimally invasive surgical robot. Background technique [0002] Minimally Invasive Surgery (Minimally Invasive Surgery) refers to a procedure in which doctors observe internal lesions and organs through endoscopes such as laparoscopes and thoracoscopes that enter the human body, and operate special surgical instruments that enter the body through tiny wounds to perform surgery in the human cavity. kind of surgery. [0003] Compared with traditional open surgery, minimally invasive surgery has the advantages of less trauma on the body surface, less intraoperative blood loss, less pain, shorter operation time, faster postoperative recovery, and lower risk of infection, so it has been widely used in the surgical field. recognition and application. However, traditional endoscopic minimally invasive surgery has also ex...

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Problems solved by technology

However, traditional endoscopic minimally invasive surgery has also exposed some problems in clinical application, such as: doctors are prone to fatigue when standing in the same posture for a long time; hand tremors caused by unstable factors such as emotions or physiological activities will affect Surgical accuracy; poor hand-eye coordination during the operation of the instrument may easily lead to surgical misoperation, etc.

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