活体腔内直驱中空手腕操作的多场耦合姿态控制研究

以微创手术使用量最大的胸/腹腔镜的姿态调整为对象，为克服现有微创器械中牵引丝传动的弊端以及便于镜头中传输图像信息的光纤走线，创造性地将中空超声电机引入微创医疗领域。本项目将研究活体腔内超声电机直接驱动的多自由度中空手腕设计原理、驱动机制和临床操作中的基本科学问题: 活体腔内手腕系统操作中热、机、电多物理场耦合模型; 活体腔内复杂约束状况下手腕驱动和控制伺服系统非线性机理和约束匹配; 活体腔内直驱中空手腕伺服系统多变量协同高性能控制; 发展包含中空超声电机、匹配电路、驱动/控制电路以及手腕系统复合驱动的力、运动和能量传递行为的数学描述及性能调控策略;实验研究安全操作控制策略并探索手腕系统设计理论和标准评价体系。揭示机械、驱动、控制变量间的相互动态耦合机制，建立复杂约束状况下多变量协同高精度、高稳定性伺服控制算法。旨在强化微创手术机器人及器械领域的基础理论体系，提升我国在这方面的创新能力。

In order to overcome the defects of the traction wire transmission in the minimally invasive devices and facilitate the transmission of image information in the laparoscopic, the hollow ultrasonic motors are creatively introduced into the minimally invasive medical field. The research focuses on the largest amount of laparoscopic posture adjustment in minimally invasive surgery and studies the mechanism, rules, the design of the wrist and the basic problems in the clinical application of the direct drive multi-DOF hollow wrist in living body surgery.The aim of the project is to build a thermal, mechanical and electrical multi-field coupling model in the operation of a living body, to study the nonlinear mechanism and constraint matching of wrist drive and control servo system under complex constraints in the living body, to study multivariable cooperative high performance control of direct drive hollow wrist servo system in the living body, to develop a mathematical description and a performance tuning strategy of the force, motion and energy transfer behavior of a hollow ultrasonic motor, a matching circuit, a drive / control circuit, and a wrist compound drive system, to research on safety operation control strategy and the design theory and standard evaluation system of wrist system by experiments, to reveal dynamic coupling mechanism among the mechanical structure, drive and control decoupling method of heat, machine and electric, to propose multi variable coordinated servo control algorithms of high precision and high stability under complex constraints environment. The purpose of this project is to strengthen the basic theory system of minimally invasive surgery robots and equipments in our country, to improve the ability of original innovation in the research of high-end medical equipments.