摘 要
在當(dāng)前醫(yī)療機器人應(yīng)用領(lǐng)域中，醫(yī)療遙操作機器人穿刺手術(shù)成為研究的熱點。由于穿刺過程中穿刺針與軟組織發(fā)生形變，導(dǎo)致實際穿刺位置和目標(biāo)靶點出現(xiàn)偏差，這使得實際穿刺手術(shù)的治療效果大大降低。目前，醫(yī)療遙操作機器人研究多集中在網(wǎng)絡(luò)通信和局域網(wǎng)遙操作，以便減小通信時延來提高位置和力的跟蹤效果，而忽視了遙穿刺手術(shù)中穿刺針形變而引起的偏差。目前在穿刺手術(shù)中缺少對軟組織因受力而產(chǎn)生的具體形變量的分析和穿刺針針尖軌跡規(guī)劃的基礎(chǔ)研究。
本文針對上述存在的問題進(jìn)行了相應(yīng)的分析和研究，本文主要內(nèi)容包括：
第一，為了提高機器人輔助針穿刺軟組織的精度，減小穿刺誤差，建立了柔性穿刺針的彈性懸臂梁物理模型，提出了一種穿刺針受力分析的有限元算法,并對模型進(jìn)行理論計算和 仿真，得到了穿刺針元素結(jié)點的撓度和偏轉(zhuǎn)角度，驗證了算法的有效性。
第二，為了得到軟組織在穿刺力作用下的形變量和穿刺力與軟組織形變量的關(guān)系，本文通過對二維軟組織使用準(zhǔn)靜態(tài)有限元分析法，將軟組織形變的連續(xù)動態(tài)過程離散成靜態(tài)有限元模型，對二維軟組織和三維軟組織進(jìn)行有限元仿真，得到軟組織各結(jié)點的形變位移和力的分布云圖。結(jié)果表明：作用在同一點的線性軟組織的形變量和穿刺力成正比，分步載荷的效果疊加與各載荷步同時作用效果一致。
第三，為了得到穿刺針針尖在穿刺過程中的具體軌跡，通過將穿刺過程離散化，在考慮穿刺針形變、穿刺角度和穿刺針基座豎直坐標(biāo)的控制量基礎(chǔ)上，計算穿刺過程針尖每一時刻的坐標(biāo)，進(jìn)而得到穿刺針針尖的運動軌跡，仿真結(jié)果表明:影響穿刺針針尖軌跡的主要因素是針基座豎直坐標(biāo)的控制量和穿刺角度，穿刺針形變對穿刺針軌跡的影響較小。
最后，為了進(jìn)行軟組織穿刺插針仿真實驗，改進(jìn)了單自由度遙操作機器人，設(shè)計了主從手控制器，通過仿真驗證了控制器的有效性；并在LabVIEW軟件平臺下，實現(xiàn)了數(shù)據(jù)采集、串口通信、網(wǎng)絡(luò)通訊，驗證了所設(shè)計的滑模變結(jié)構(gòu)控制器。實驗結(jié)果表明：該系統(tǒng)實現(xiàn)了從手對主手位置跟蹤以及主手對從手力跟蹤。

關(guān)鍵詞 遙操作機器人；穿刺針；軟組織；形變；有限元

Abstract
In the current field of application for medical robot, teleoperation robot puncture surgery becomes a focus of research. There often lead to deviation between actual puncture position and goal targets in the process of piercing due to deformation of puncture needle and soft tissue. In order to reduce communication delay and improve tracking effect of position and force, the vast majority of research on network communication and local area network teleoperation, therefore ignore deflection caused by puncture needle curve in tele-puncture operation. There are lacking of quantitative deformation analysis of soft tissue applied force and fundamental research of tip trajectory planning in piercing operation.
This paper analysis and study the problems mentioned above. The main research works are as follows:
Firstly, In order to reduce deflection of the puncture needle and increase the accuracy of the robot-assisted needle insertion into soft tissue, the physical model of puncture needle is built with elastic cantilever beam. The algorithm is proposed to analyze force added on puncture needle and obtain the deflection and angle of element node. The theoretical calculation and experimental simulation results show the validation and consistency of the algorithm.
Secondiy, In order to obtain relationship between deformation size and force, dynamic process of the soft tissue deformation during needle insertion is decomposed into series of discrete quasi-static stages. Every note’s displacement and force distribution of the soft tissue is acquired by simulating needle insertion into two and three dimensional tissue. The simulation results show that deformation is proportional to the force; step-by-step load effect is agreed with combined action.
Thirdly, In order to get tip trajectory of puncture needle, piercing process is decomposed into a set of discrete quasi-static process. Getting tip trajectory by calculating needle tip coordinate at every moment, in which coupling of needle deformation, puncture angle and needle base vertical coordinate are considered. The simulation results showed that the elastic deformation of puncture needle does not affect needle tip trajectory evidently, and the main factors of effects on needle tip trajectory are the puncture needle vertical coordinate and initial puncture angle.
Finally, In order to carry out needle insertion into soft tissue experiment, improving original SDOF teleoperation experimental system, and designing the controller of Master-Slave hands. The simulation results show the validation of the controller. The LabVIEW platform of the system is established for data acquisition, serial port communication, network communication and verifying the validation of sliding mode controller. The experiment result showed that the system realized the position and force tracking.

Keywords teleoperation robot; puncture needle; soft tissue; deformation; FEM

目 錄
摘 要 I
Abstract III
第1章 緒論 1
1.1 醫(yī)療遙操作機器人系統(tǒng)簡介 1
1.1.1 醫(yī)療遙操作機器人的概念 1
1.1.2 醫(yī)療機器人的分類 1
1.1.3 醫(yī)療遙操作機器人穿刺手術(shù)系統(tǒng) 2
1.1.4 醫(yī)療遙操作機器人的特點 4
1.2 醫(yī)療遙操作機器人的研究背景與意義 4
1.2.1 醫(yī)療遙操作機器人研究背景 ..