A magneto-rheological hydraulic feedback device for the main operator of minimally invasive surgery robot

Abstract

The invention discloses a magneto-rheological fluid force feedback device used for a main operator of a minimally invasive surgical robot, which belongs to the technical field of robots. The invention uses the magnetorheological effect of the magnetorheological fluid through the designed blade group, magnetorheological fluid, electromagnet and other components to reduce the contact between the surgical instrument and the lesion tissue detected from the operating hand during minimally invasive surgery. The force feedback is given to the main operator, so that the main operator can obtain an immersive feeling, that is, the sense of presence during the operation, and realize the force feedback control of the main operator. Therefore, the present invention can realize the force feedback of the main operator of the minimally invasive surgical robot, so that the operator can obtain a sense of presence, and can also improve the quality of surgery, and its force feedback control process is simple and the delay is short, which provides the force feedback for the remote surgery process. A new way of thinking.

Description

technical field [0001] The invention belongs to the technical field of robots, and relates to a magnetorheological fluid device used for hand force feedback control of the main operation of a minimally invasive surgical robot. Background technique [0002] With the development and maturity of robotic technology, robots are more and more used in the surgical process. When using robots for minimally invasive surgery, the doctor needs to operate the main hand to perform the operation, and the main operator does not contact the patient. It is in contact with the lesion of the surgical patient and moves with the movement of the main hand. During the operation, the doctor can only observe the contact between the surgical instrument from the end of the hand and the lesion tissue through the endoscope, and cannot directly feel the contact force between the surgical instrument and the lesion tissue, so the doctor cannot touch the tissue, affecting the Symptom analysis, that is, lack...

AI Technical Summary

Problems solved by technology

The above-mentioned method of hand force feedback control based on the output torque of the motor has the characteristics of complex calculation process, large force feedback error, and long delay, and it needs to consider compensation of Coriolis force, gravity, friction, etc.

In addition, the force feedback of the main operator at home and abroad also includes impedance control, sliding mode control, rope drive control, etc., all of which have the characteristics of complex structure, complicated control process, high coupling of motion process, and poor force feedback effect.

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