Parallel mechanism modal space control method suitable for ophthalmic microsurgery

A technology of microsurgery and control methods, applied in the fields of medicine, control and machinery, which can solve the problems of sequence change between modalities, slow convergence speed, and modal transitions.

Inactive Publication Date: 2013-07-10
成琼 +1
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  • Abstract
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  • Application Information

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Problems solved by technology

The six-degree-of-freedom parallel manipulator can be used for cataract intracapsular resection, posterior capsule polishing, vitrectomy, etc. However, for eyeball surgery and its strict positioning and trajectory tracking accuracy, the degree of freedom caused by the coupling characteristics of the parallel mechanism Coupling errors severely limit its use in ophthalmic surgery
[0004] However, the application of the current modal space controller is limited to the movement of the parallel mechanism in a small range in the middle position. The reason is that when the six-degree-of-freedom parallel mechanism moves in a large-scale global workspace, the modal decoupling Under the influence of pose paramet

Method used

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  • Parallel mechanism modal space control method suitable for ophthalmic microsurgery
  • Parallel mechanism modal space control method suitable for ophthalmic microsurgery
  • Parallel mechanism modal space control method suitable for ophthalmic microsurgery

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Embodiment 1

[0062] Six degrees of freedom parallel mechanism such as figure 1 As shown, it includes a moving platform 1, a fixed platform 2, an upper connecting hinge 3, a lower connecting hinge 4 and a linear actuator 5.

[0063] The structure of the modal space controller is as follows figure 2 As shown, its control process is:

[0064] Step 1: System setting signal sx des After the kinematics anti-solution module, the signal array of the set length of the six linear actuators is generated l com , and the actual length signal array l of the six linear actuators are subtracted to generate a deviation matrix e, e=l com -l.

[0065] Step 2: Transform the deviation matrix e into the modal space to generate the modal deviation matrix e d , e d =U T e. Its modal decoupling matrix U is obtained through the global modal calculation module, which is related to the pose signal sx obtained from the real-time kinematics forward solution. This step is the key to modal control. After the mo...

Embodiment

[0112] The present invention will be further described in conjunction with the modal transition and efficiency issues of modal space control when a six-degree-of-freedom parallel mechanism is used for compound pose control in the global workspace.

[0113] The platform related parameters are:

[0114] The height of the platform is 2.6519m in the middle position, the stroke of the actuator is 1.2m, the radius of the upper hinge circle is 2.1148m, and the radius of the lower hinge circle is 2.6519m.

[0115] Load inertia parameters are: m=13642.000kg, Ixx=46477.100kgm 2 , Iyy=49396.100kgm 2 ,Izz=53865.000kgm 2 .

[0116] The initial modal decoupling matrix U:

[0117] U = 0.4082 - 0.4868 - 0.3104 0.4082 - ...

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Abstract

The invention discloses a six-degrees-of-freedom parallel mechanism modal space control method suitable for parallel computing. The problem of modal decoupling matrix solving of a parallel mechanism in global motion is converted into the problem of zero values of a nonlinear system of equations; on the basis, a modal frequency and characteristic value iterative numerical algorithm is constructed based on the Newton iterative algorithm; and the iterative algorithm is high in convergence rate, few in iterative time and suitable for multi-core processor parallel computing. A global modal space controller constructed by adopting the iterative algorithm not only solves a modal transition problem in large overall motion of the six-degrees-of-freedom parallel mechanism but also improves computational efficiency of the controller greatly.

Description

technical field [0001] The invention relates to the fields of medicine, control and machinery, in particular to a mode space control method of a parallel mechanism suitable for ophthalmic microsurgery. Background technique [0002] The six-degree-of-freedom parallel mechanism has been widely used in the medical field due to its small working space but high control precision. In the water sealing operation, the doctor manipulates the movement of the parallel robot under the guidance of the computer screen image. The positioning accuracy of the parallel robot reaches 0.01mm, which completely avoids the trembling that may occur during manual operation. Since then, the laboratory of the Humboldt University School of Medicine in Germany has also successfully performed brain surgery on patients using Delta parallel robots. In addition, T.Dohi et al. have developed a micro-operation parallel robot for brain surgery, and K.W.Grace of Northwestern University has developed A six-degr...

Claims

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Application Information

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IPC IPC(8): G05B13/04A61F9/007
Inventor 成琼郑玲胡颖韩育珍姚春燕黄橙赤刘超田体先
Owner 成琼
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