无力传感器策略和可逆向驱动机构并用提高手术机器人触觉感知性能的新方法研究

Haptic perception plays a key role in the procedure of MIS. The missing of haptic feedback to the surgeon, especially for human delicate tissue, is the main constraint Bottle-Neck for currently used surgical robot to carry out complicate, delicate and safe operation. Thus, research on the mechanism of haptic perception and its realization is endued with great theoretical and practical significance today. Based on conducting a force resource analysis of surgical tool and one-style design with compact and reasonable structure, this research aims to grasp the causes of pretention force and precise joint position control. And after building a relationship between friction force and power transmission accuracy for tendon driven mechanism, a complete robot dynamic model will be constructed. Based on this dynamic model, the precise force control method and its design for long and slim surgical tool will be studied. Furthermore, a new reduction mechanism with backdrivable ability, high reduction ratio and low friction, differing from commonly used gear reduction mechanism, will be presented. Then, a force sensor free strategy for surgical robot to achieve haptic perception will be proposed together with the new designed reduction mechanism. At last, the surgical robot key realization technology for this new strategy and reduction mechanism will be studied. And the result of this new approach will be further demonstrated by surgical simulation and experiment. The new proposed method during this research is expected to provide one of the useful theoretic foundations for the development of more safe and efficiency surgical robot in the near future.

触觉感知在微创手术中起着极其重要的作用。然而触觉感知信息的缺失——特别对人体精细组织的触觉感知信息的缺失，是制约当前微创手术机器人开展复杂、精细、安全手术的关键瓶颈问题。因此，探究术中触觉感知的作用机理以及手术机器人触觉感知的实现方法具有重要的理论和现实意义。本课题旨在对手术机器人末端执行器的受力源进行分析并在一体化单元结构设计的基础上，研究不同预紧力对细长型手术器械精密位置控制的影响，同时获取摩擦力与腱驱动机构精密动力传递关系模型，以此探究细长型手术器械的精密位置和力控制的理论和设计方法；在此基础上，为解决传统齿轮减速器的缺陷，设计出一种具有可逆向驱动、大减速比、低摩擦的新型减速机构，并提出一种不使用力传感器而实现触觉感知功能的无力传感器控制策略；最后，研究不含力传感器的手术机器人对人体精细组织触觉感知的实现技术，并通过手术仿真和实验验证，为研制安全、高效微创手术机器人提供理论依据。

手术接触力感知在外科手术中起着极其重要的作用。然而，接触力感知的缺失——特别是面向人体组织的细微接触力感知的缺失，是制约当前微创手术开展更加复杂、精细、安全手术的重要因素。因此，研究适用于人体组织的微创手术接触力感知机理和实现方法具有重要意义。本课题首先对手术机器人末端执行器的受力源进行分析，并对手术执行器驱动单元进行了一体化设计，在此基础上，开展了对不同预紧力作用下的细长型手术器械精密位置控制影响分析，获得了摩擦力与腱驱动机构精密动力传递关系模型，获得了细长型手术器械的精密位置和力控制的设计方法。与此同时，为解决传统齿轮减速器的缺陷，设计出了一种具有可逆向驱动、大减速比、低摩擦的新型减速机构，并提出了一种不使用力传感器而实现触觉感知功能的无力传感器控制方法。此外，本项目组还研究了在不含力传感器的手术机器人对人体精细组织触觉感知的实现技术，并开展了实验验证，实验数据表明，经过进一步的优化设计之后，所设计的微创手术执行器和力位控制方法可在传统腹腔镜手术中得到应用。