手術機器人運動學模型分析與補償策略

Abstract

本文旨在分析一應用於脊椎椎弓釘植入手術的六軸並聯式機構運動學特性，並聯式機構的定位精度誤差來源來自兩者：運動學模型參數誤差及伺服端線性制動器控制的誤差。運動學分析方面，以自行設計的方法校正機構參數達最佳值，並且以機構參數最佳值分析其工作空間、順逆項運動奇異點。誤差分析方面，透過建立並聯式機構的誤差模型量化分析機構工作空間內部機構參數誤差及伺服誤差對機器人工具的定位影響。機構參數誤差方面，儘管對參數最佳化，基於校正程序中量測儀器的誤差，最佳化的機構參數數值與實際數值間還會存在些微的誤差，因此本研設計一機構參數誤差的觀察器並進行誤差補償，成功提升機器人的定位表現。

The purpose of this paper is to analyze the kinematics of a six-axis parallel mechanism applied to spinal pedicle screw implantation. The error of the positioning accuracy of the parallel mechanism comes from both: the parameter error of the kinematic model and the error of the linear brake control at the servo end. In the kinematics analysis, the self-designed method is used to correct the optimal parameters of the mechanism parameters, and the optimal values of the mechanical parameters are used to analyze the singular points of the working space and the sinusoidal inverse motion. In the aspect of error analysis, the error model of the parallel mechanism is used to quantify the influence of the internal system parameter error and the servo error on the positioning of the robot tool. In terms of mechanism parameter error, although the parameters are optimized, based on the error of the measuring instrument in the calibration procedure, there will be some slight error between the optimized mechanism parameter value and the actual value. Therefore, the observation of the error of the mechanism parameter of the design The device also performs error compensation to successfully improve the positioning performance of the robot.