腹腔微创手术机器人的主从控制

为提高基于内窥镜的腹腔微创手术机器人系统的手眼协调一致性,提出了一种主从控制方法.基于旋量理论建立从手系统的正逆运动学模型,基于运动模型提出内窥镜坐标系下的主从运动控制算法,该算法包含了运动的一致性控制、相对运动控制和比例运动控制.主手的腕部为被动方式(无电机驱动),不能在任意位置保持静止,在手术开始、中途中断或调节主手工作空间时,主手和从手姿态不能保持一致.为此,开展3种辅助功能实现研究,分别为主从姿态配准、手术器械更换和主从二次映射.最后进行了套环和穿线实验,这两组实验最大空间位置误差均小于1mm,说明该算法可有效地提高手眼协调的一致性.

Master-Slave Control of the Celiac Minimally Invasive Surgical Robot

A master-slave control algorithm is proposed to improve the hand-eye coordination for an endoscopic celiac minimally invasive surgical robotic system based on the endoscopes.Forward and inverse kinematic models of the slave hand system are established based on the screw theory. Then a master-slave motion control algorithm is proposed based on the kinematic models in the endoscope coordinates, which consists of the motion consistency control, the relative motion control and the proportional motion control. Because the wrist of the master hand is passive (not driven by motor),it can't remain stationary at any position, and therefore the postures of the master and slave manipulators can't keep the same at the beginning of the operation, at the interruption in the middle of the operation, or at the adjustment of the workspace of the master. For this reason, three auxiliary functions are implemented, which are the master-slave posture registration function, the replacement function of surgical instrument and the master-salve remapping function. Last but not least, the collaring and the threading experiments are carried out.The maximum space position errors of these two groups of experiments are less than 1 mm, which shows the algorithm can effectively improve the consistency of hand-eye coordination.