Force feedback end holder admittance control method

Abstract

The invention discloses a force feedback end holder admittance control method. The method comprises the following steps of: firstly, solving the equivalent mass of an end holder by controlling the movement of a six-degree-of-freedom mechanical arm so as to eliminate the self-weight interference of the end holder, then collecting a puncture needle end force signal as an input signal of an admittance controller through the end holder, solving the zero-force compensation position variable quantity through the Runge-Kutta method, calculating the corresponding joint angle posture through inverse kinematics, driving the mechanical arm by the position controller to move to the corresponding position, and achieving zero-force following. By means of the method, zero-force following control over the puncture needle at the tail end of a puncture operation robot can be achieved, interference caused by physiological movement of tissue to the puncture operation is reduced, and the accuracy and safety of the operation are improved.

Description

technical field [0001] The invention relates to the technical field of the design of the end gripper of a puncture surgery robot and the compliance control of the robot, in particular to a method for controlling the admittance of a force feedback end gripper. Background technique [0002] With the continuous development of robot technology and the continuous enrichment of medical treatment methods, medical robots have emerged as the times require. Medical robots refer to various robotic devices used in medical purposes such as surgery, rehabilitation treatment, and assistance for the disabled. They are minimally invasive, precise, and efficient. Medical robots can be subdivided into surgical robots, rehabilitation robots, auxiliary robots, etc. Among them, the puncture robot is an important branch of the surgical robot. It is mainly used for surgical puncture, such as lumbar puncture, blood vessel puncture, organ puncture, etc., and plays an important role in the diagnosis ...

AI Technical Summary

Problems solved by technology

[0003]However, the puncture surgical robots currently on the market still have certain limitations

At present, mature puncture surgery robots are mainly used in neurosurgery and orthopedic puncture surgery, and they are unable to accurately puncture target areas affected by respiratory movement, such as liver and lungs.

Because the organs and tissues in these parts will be displaced and deformed with the breathing movement of the human body, which will lead to changes in the position of the target area and reduce the positioning accuracy of the system

In addition, the physiological movement of the organ tissue will also cause extrusion force on the puncture needle, resulting in elastic deformation of the puncture needle, which deviates from the predetermined puncture position, resulting in puncture failure

At the same time, the interaction force between the organ tissue and the puncture needle may cause damage to the surrounding normal human organ tissue, or even tear the organ, reducing the safety of the operation. Therefore, it is necessary to design a surgical navigation system that can be adjusted in time

A puncture robot that only relies on an optical navigation system cannot perceive force signals and make adjustments; and because the puncture needle is long, only one three-dimensional force sensor cannot accurately detect the force on the puncture needle, so two three-dimensional force sensors are required for detection

At present, neither the mainstream surgical robot system nor the current puncture surgery technology can solve the above problems well.

Images