基于LabVIEW的手术机器人虚拟仿真平台设计

doi:10.16180/j.cnki.issn1007-7820.2019.02.004

摘要/Abstract

摘要：

为了清晰地观察手术机器人的运动状态,文中提出了一种基于LabVIEW的3D虚拟仿真平台构建方法。该方法将图形化编程软件LabVIEW作为构建平台,结合SolidWorks机械建模、LabVIEW的GUI前面板、三维显示控件以及LabVIEW Robotics工具包搭建了可视化程度高、模型效果逼真的手术机器人3D虚拟仿真平台。针对文中设计里自主构建的从手机械臂和主手操作台,详细讲述了虚拟仿真平台的构建过程,并且使用算法实现了手术机器人在主从控制系统中的实时参数控制。最后结合MATLAB对手术机器人末端位置运动进行测试对比。测试结果表明轨迹路径一致,可以通过该方法实现对手术机器人的虚拟仿真平台构建。

关键词: 手术机器人, 虚拟仿真平台, 图形化编程, 机械建模, 可视化, 主从控制

Abstract:

In order to clearly observe the motion state of the surgical robot, a method of constructing a 3D virtual simulation platform based on LabVIEW was proposed. The graphical programming software LabVIEW serving as a construction platform, combined with SolidWorks mechanical modeling, LabVIEW GUI front panel, 3D display control and LabVIEW Robotics toolkit to build a 3D virtual simulation platform for surgical robots high visualization realistic model effects. According to the self-designed master and slave mechanical arm, the process of constructing the virtual simulation platform was described in detail, and the real-time parameter control of the surgical robot in the master-slave control system was realized. Finally, the end position movement of the surgical robot was tested with MATLAB. The test results showed that the trajectory path was consistent, and the virtual simulation platform of the surgical robot could be constructed by this method.

Key words: surgical robot, virtual simulation platform, graphical programming, mechanical modeling, visualization, master-slave control

中图分类号:

TP242

郝嘉俊,王亚刚,马江涛. 基于LabVIEW的手术机器人虚拟仿真平台设计[J]. 电子科技, 2019, 32(2): 14-19.

HAO Jiajun,WANG Yagang,MA Jiangtao. Master-slave Control System Simulation of Surgical Robot Based on LabVIEW[J]. Electronic Science and Technology, 2019, 32(2): 14-19.

图/表 16

图1

图2

图3

图4

表1

表2

图5

图6

图7

图8

图9

图10

图11

图12

图13

图14

参考文献 16

[1]	张伟 . 达芬奇机器人手术系统——原理、系统组成及应用[J]. 中国医疗器械信息, 2015,21(3):24-25.
	Zhang Wei . Da vinic rototic surgical system--principle, composition and application of system[J]. China Medical Device Information, 2015,21(3):24-25.
[2]	Feng Mei, Fu Yili, Pan Bo , et al. Development of a medical robot system for minimally invasive surgery[J]. International Journal of Medical Robotics and Computer Assisted Surgery, 2012,8(1):85-96. doi: 10.1002/rcs.440 pmid: 21990214
[3]	王国民 . 外科机器人技术引领未来手术[J]. 复旦学报:医学版, 2013,40(6):631-634.
	Wang Guomin . Robotic surgeical technology leads the surgical development in the futher[J]. Fudan University Journal of Medical Sciences, 2013,40(6):631-634.
[4]	Farah E, Liu S G . Surgical robot design development[J]. Applied Mechanics and Materials, 2013(415):14-17.
[5]	董光友 . 腹腔微创手术机器人机械臂的设计及研究[D]. 长春:吉林大学, 2016.
	Dong Guangyou . The design and research of the robot arm for celiac minimally invasive surgery[D]. Changchun:Jilin University, 2016.
[6]	王树新, 刘玉亮, 李进华 , 等. 腹腔微创手术机器人远程控制平台开发及实验[J]. 天津大学学报:自然科学与工程技术版, 2015,48(12):1041-1049. doi: 10.11784/tdxbz201409075
	Wang Shuxin, Liu Yuliang, Li Jinhua , et al. Development and experiment of a tele-operated platform for minimally invasive laparoscopic surgery based on microhand robot[J]. Journal of Tianjin University:Science and Technology, 2015,48(12):1041-1049. doi: 10.11784/tdxbz201409075
[7]	李宪华, 张雷刚, 郭帅 , 等. 一种开放式机械臂3D虚拟仿真平台快速构建方法[J].机械科学与技术,2018(4):53-58.
	Li Xianhua, Zhang Leigang, Guo Shuai , et al. A Quick Method of Constructing Open and 3D Manipulator Virtual Simulation Platform[J].Mechanical Science and Technology for Aerospace Engineering,2018(4):53-58.
[8]	李连中, 翟敬梅, 何海洋 . 机器人虚拟仿真及远程控制系统的研究及实现[J]. 计算机工程与应用, 2016,52(13):238-242. doi: 10.3778/j.issn.1002-8331.1409-0150
	Li Lianzhong, Zhai Jingmei, He Haiyang . Research and implementation about robot virtual simulation and remote control system[J]. Computer Engineering and Applications, 2016,52(13):238-242. doi: 10.3778/j.issn.1002-8331.1409-0150
[9]	朱峰, 刁燕, 吴应东 . 基于LabVIEW和SolidWorks的微创手术机器人运动仿真[J].机械设计与制造,2013(3):136-138. doi: 10.3969/j.issn.1001-3997.2013.03.042
	Zhu Feng, Diao Yan, Wu Yingdong . Minimally invasive surgical robot motion simulation based on LabVIEW and SolidWorks[J].Machinery Design&Manufacture, 2013(3):136-138. doi: 10.3969/j.issn.1001-3997.2013.03.042
[10]	陈福彬, 柴海莉, 高晶敏 . 基于LabVIEW的自动化测试平台的设计[J]. 国外电子测量技术, 2012,31(11):9-14.
	hen Fubin, Chai Haili, Gao Jingmin . Design of the automatic testing platform based on LabVIEW[J]. Foreign Electronic Measurement Technology, 2012,31(11):9-14.
[11]	姚丽, 刘东东 . 基于LabVIEW的数据采集与信号处理系统设计[J]. 电子科技, 2012,25(5):79-81. doi: 10.3969/j.issn.1004-373X.2011.14.052
	Yao Li, Liu Dongdong . Design of the data acquisition and signal processing system based on LabVIEW[J]. Electronic Science and Technology, 2012,25(5):79-81. doi: 10.3969/j.issn.1004-373X.2011.14.052
[12]	Punak S, Kurenov S . A simple master-slave control mapping setup to learn robot-assisted surgery manipulation[J]. Studies in Health Technology and Informatics, 2012,173(5):356-367. doi: 10.3233/978-1-61499-022-2-356 pmid: 22357017
[13]	潘博, 付宜利, 冯美 , 等. 腹腔微创手术机器人主从控制技术与实验[J]. 机器人, 2012,34(6):646-651,679. doi: 10.3724/SP.J.1218.2012.00646
	Pan Bo, Fu Yili, Feng Mei , et al. Mater-slave control technology for abdominal minimally invasive surgery robot and its experiments[J]. Robot, 2012,34(6):646-651,679. doi: 10.3724/SP.J.1218.2012.00646
[14]	唐奥林 . 面向主从式微创外科手术机器人的遥操作运动控制策略研究[D]. 上海:上海交通大学, 2014.
	Tang Aolin . Research on the teleoperation motion control strategy for a master-slave minimally invasive surgical robot[D]. Shanghai:Shanghai Jiao Tong University, 2014.
[15]	张广潮, 王敏 . SolidWorks在机械原理三维仿真动画制作中的应用[J]. 实验室科学, 2017,20(2):69-73. doi: 10.3969/j.issn.1672-4305.2017.02.020
	Zhang Guangchao, Wang Min . Application of SolidWorks in 3D simulation of mechanical principle[J]. Laboratory Science, 2017,20(2):69-73. doi: 10.3969/j.issn.1672-4305.2017.02.020
[16]	马如奇 . 微创腹腔外科手术机器人执行系统研制及其控制算法研究[D]. 哈尔滨:哈尔滨工业大学, 2013.
	Ma Ruqi . Development of the celiac minimally invasive surgery robotic executing system and research on its control algorithm[D]. Harbin:Harbin Institute of Technology, 2013.

关节	a_i/mm	α_i/(°)	d_i/mm	θ_i/(°)
1	0	0	280.6+d₁	0
2	270	0	0	θ₂
3	0	-135	0	θ₃
4	0	-90	493.09	θ₄
5	0	90	0	θ₅
6	0	0	d₆	0

关节	a_i/mm	α_i/(°)	d_i/mm	θ_i/(°)
1	0	0	-119.15	θ₁
2	1	-90	0	0
3	0	0	37.82	0
4	216	0	0	θ₄+90
5	297.02	0	0	θ₅-90