面向微创外科手术机械臂的主动力摆位控制策略
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摘要
为了实现微创外科手术机器人的主动手术姿态调整,针对微创手术机械臂的RCM机构特点以及主被动关节相结合的摆位方式,本文提出了基于关节力矩的虚拟工具控制算法以实现操作者与手术机械臂之间的力交互过程。该算法以在关节处安装力矩传感器的方式进行交互力的采集,并结合采样数据提出了一套完整的重力矩补偿方法。根据关节处的受力情况,力控制模型能够实时调整模型参数以响应主动力摆位不同阶段的动态要求。在自行研制的微创外科手术机器人样机上进行相关的实验验证,实验结果表明:各关节的重力矩补偿模型效果明显,基于关节力矩的虚拟工具模型能够实现柔顺自然的人机交互过程,并具有较高的可控性和稳定性,可以较好地完成微创外科手术机械臂的手术位姿调整。
In this study,a virtual tool control algorithm based on joint torque is proposed in order to realize the force interaction between the manipulator and a human.Further,this study aims to achieve the surgical gesture adjustment of a minimally invasive surgical robot in accordance with the characteristics of the RCM mechanism and the force positioning mode containing the active and passive joints.The interaction force was estimated using the torque sensor that was installed in the joints,and a complete set of gravity compensation algorithms was proposed on the basis of the sampled data.According to the joint torquemeasurement,the control model adjusts the parameters in real time in order to respond to the dynamic requirements of the various stages in the active force positioning process.An experimental verification was carried out on a self-developed minimally invasive surgical robot.The experimental results exhibited the presence of gravity torque compensation.Further,the compliant natural physical human-robot interaction could be realized using the virtual tool control algorithm based on joint torque.Additionally,the interaction control strategy exhibits high controllability and stability.Therefore,it can be applied to the positional and postural adjustment of the proposed minimally invasive surgical manipulator.
In this study,a virtual tool control algorithm based on joint torque is proposed in order to realize the force interaction between the manipulator and a human.Further,this study aims to achieve the surgical gesture adjustment of a minimally invasive surgical robot in accordance with the characteristics of the RCM mechanism and the force positioning mode containing the active and passive joints.The interaction force was estimated using the torque sensor that was installed in the joints,and a complete set of gravity compensation algorithms was proposed on the basis of the sampled data.According to the joint torquemeasurement,the control model adjusts the parameters in real time in order to respond to the dynamic requirements of the various stages in the active force positioning process.An experimental verification was carried out on a self-developed minimally invasive surgical robot.The experimental results exhibited the presence of gravity torque compensation.Further,the compliant natural physical human-robot interaction could be realized using the virtual tool control algorithm based on joint torque.Additionally,the interaction control strategy exhibits high controllability and stability.Therefore,it can be applied to the positional and postural adjustment of the proposed minimally invasive surgical manipulator.
引文
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[15]GOTO S,USUI T,KYURA N,et al.Forcefree control with independent compensation for industrial articulated robot arms[J].Control engineering practice,2007,15(6):627-638.
[2]MEIRELES O,HORGAN S.Applications of surgical robotics in general surgery[M].New York:Springer,2011:791-812.
[3]MARESCAUX J,RUBINO F.The ZEUS robotic system:experimental and clinical applications.[J].Surgical clinics of North America,2003,83(6):1305-1315.
[4]MIYAMOTO S,SUGIURA M,WATANABE S,et al.Development of minimally invasive surgery systems[J].Hitachi review,2003,52(4):189-195.
[5]BLAKE H,JACOB R,FRIEDMAN D W,et al.Raven-II:an open platform for surgical robotics research[J].IEEE transactions on biomedical engineering,2013,60(4):954-959.
[6]MA J,BERKELMAN P.A compact,simple,and robust teleported robotic surgery system[M].New York:Springer,2011:139-158.
[7]KOBAYASHI S,MUIS A,OHNISHI K.Sensorless cooperation between human and mobile manipulator[C]//IEEE International Conference on Industrial Technology.Lyon,France,2005:811-816.
[8]游有鹏,张宇,李成刚.面向直接示教的机器人零力控制[J].机械工程学报,2014,50(3):10-17.YOU Youpeng,ZHANG Yu,LI Chenggang.Force-free control for the direct teaching of robots[J].Chinese journal of mechanical engineering,2014,50(3):10-14.
[9]DUCHAINE V,GOSSELIN C M.General model of humanrobot cooperation using a novel velocity based variable impedance control[C]//Euro Haptics Conference.Tsukuba,Japan,2007:446-451.
[10]ERDEN M S,MARIC'B.Assisting manual welding with robot[J].Robotics and computer-integrated manufacturing,2011,27(4):818-828.
[11]LECOURS A,MAYER-ST-ONGE B,GOSSELIN C.Variable admittance control of a four-degree-of-freedom intelligent assist device[C]//International Conference on Robotics and Automation.St.Paul,USA,2012:3903-3908.
[12]KOSUGE K,FUJISAWA Y,FUKUDA T.Control of robot directly maneuvered by operator[C]//International Conference on Intelligent Robots and Systems.Tokyo,Japan,1993:49-54.
[13]INFANTE M L,KYRKI V.Usability of force-based controllers in physical human-robot interaction[C]//International Conference on Human-Robot Interaction.Lausanne,Switzerland,2012:355-362.
[14]FERRETTI G,MAGNANI G A,ROCCO P.Assigning virtual tool dynamics to an industrial robot through an admittance controller[C]//International Conference on Advanced Robotics.Munich,Germany,2009:1-6.
[15]GOTO S,USUI T,KYURA N,et al.Forcefree control with independent compensation for industrial articulated robot arms[J].Control engineering practice,2007,15(6):627-638.