基于虛擬力-觸覺(jué)引導(dǎo)的外科遙操作實(shí)驗(yàn)平臺(tái)的設(shè)計(jì)與實(shí)現(xiàn).pdf

1、華中科技大學(xué)碩士學(xué)位論文基于虛擬力觸覺(jué)引導(dǎo)的外科遙操作實(shí)驗(yàn)平臺(tái)的設(shè)計(jì)與實(shí)現(xiàn)姓名：呂晟申請(qǐng)學(xué)位級(jí)別：碩士專(zhuān)業(yè)：軟件工程指導(dǎo)教師：沈剛20110111II華中科技大學(xué)碩士學(xué)位論文華中科技大學(xué)碩士學(xué)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