八自由度內視鏡機器人運動模型建立與鏡頭視角控制

Abstract

近年腹腔鏡微創手術因傷口較小，能縮短術後恢復時間並減少了患者痛苦，在醫療領域獲得廣泛運用。結合機器人技術的腹腔鏡微創手術機器人，能達成更精密的手術精度，擴展了微創技術的應用範圍。本文主要研究目的為設計一個力量控制器來達成一八自由度腹腔鏡微創手術機器人的視角控制。 本文首先介紹內試鏡馬達機構的設計，並推導持鏡臂和內視鏡的運動學和動態模型。在腹腔切口的限制條件下，推導相對於任務空間的零空間矩陣。分析內視鏡頭的視角空間，並建構一零空間阻抗控制架構，使得持鏡臂能在目標物於畫面中位置不變且不對切口產生橫向力的情況下，提供不同視角的畫面。最後以手臂控制器 API 與 MATLAB 模型實現控制演算法以驗證理論可行性。

In recent years, laparoscopic minimally invasive surgery has been extensively used in the medical field due to the small wounds, shorter recovery time and less suffering of patients. Combined with robotic technology, laparoscopic minimally invasive surgical robots can obtain higher surgical accuracy and expand the application of minimally invasive techniques. The main purpose of this paper is to design a force controller to achieve the angle control of an 8-DOF laparoscopic minimally invasive surgical robot. This article first introduces the design of the endoscope motor mechanism and deduces the kinematics and dynamic model of the manipulator arm and endoscope. Under the constraint of the celiac incision, a null-space matrix relative to the task space would be derived. Perspective space of the endoscope camera would be analyzed and a nullspace impedance control architecture would be constructed so that the endoscope-holding manipulator can provide images with different perspectives in the situation where the target object does not change its position in the picture and does not generate lateral force on the incision. Finally, the control algorithm would be implemented with the arm controller API and MATLAB model to verify the theoretical feasibility.