基于虛擬力-觸覺引導的外科遙操作實驗平臺的設計與實現(xiàn).pdf

1、華中科技大學碩士學位論文基于虛擬力觸覺引導的外科遙操作實驗平臺的設計與實現(xiàn)姓名：呂晟申請學位級別：碩士專業(yè)：軟件工程指導教師：沈剛20110111II華中科技大學碩士學位論文華中科技大學碩士學位論文AbstractTheuseofcomputerrobotictechnologyinsurgicalfieldshasbecomingmemecommontherecentyearsbutitisstillinitsinfancy.Ther

2、earelotsofadvantageswhenusingrobotsinsurgerysuchasreducedtremscalabilityofmovementsbettervisualizationsystemsgreaterrangeofmotionsthanwithconventionalminimallyinvasivesurgery.Onthecontrarylackoftactilefeedbackhighlyunstr

3、ucturedmedicalenvironmentrestrictstheuseofteleoperatedrobotstospecifictaskswithinspecificprocedures.Hapticguidanceisaneffectualapproachthatallowsthesurgeontodefinemotionconstraintsthatdependonthetasktobeperfmed.Thesecons

4、traintsusuallyconsistinthegenerationofvirtualcontactfcesthatfcethesurgeontofollowadesiredpathavoidmovementstowardsfbiddenregions.Inthispaperasurgicalteleoperatedexperimentalplatfmhasbeendesignedimplementedbyintroducingha

5、pticguidance.TheplatfmconsistsofaPantomOmnidevicefromSenSableTechnologiesusedasmastermanipulatanimitatedAESOProbotastheslavemanipulataDMCmultiaxiscontrollerfromGalilTechnologiesasaninnerloopcontroller.Themainexternalloop

6、controllerisbasedonatraditionalpositionpositionscheme.Algithmsfhapticguidancehavebeendevelopedbasedondeviationscalculationaspringdampermodel.Testsrevealthathapticguidancehelpstocarryoutsurgicalteleoperatedproceduresindee

7、d.Theguidancesystemdevelopedisreasonableeffective.Howeverananalysisoftheteleoperatedsystemrevealsthatthepositionpositioncontrolschemeisstablepassiveflowfrequencieswhilefhigherfrequenciesitispotentiallyunstable.Itisnecess