摘要
为解决现有脑外科机器人存在的绝对定位精度难于满足精细手术应用的问题,提出一种视觉伺服的系统方案,引入高精度光学跟踪手段,对机器人的末端位姿进行实时测量并反馈。采用一种基于关节空间控制和位姿空间动态补偿综合的机器人视觉闭环控制方法,并设计了动态校正控制算法。仿真结果表明:动态位姿闭环可以有效克服各种参数误差因素的影响,对机器人的绝对定位和跟踪误差具有校正作用,明显改善了轨迹跟踪精度,同时提高了鲁棒性能。绝对定位达到神经外科手术±1mm的精度要求,实际运用取得了令人满意的结果。
A visual servo architecture with closed loop control was developed for neurosurgical robot systems to provide high positioning accuracy for delicate surgical operations. The system uses a high precision optical tracking device with the robotic system to provide feedback on the position and orientation of the robot end-effector in real time. Visual closed loop control is accomplished by integrating the joint positioning control with dynamic pose feedback compensation. Simulations show that the method effectively eliminates the affects of parameter variations and corrects for positioning and tracking errors, thus noticeably improving the path tracking accuracy and system robustness. The absolute positioning accuracy is ±1 mm with enabled satisfactory implementation of the system.
出处
《清华大学学报（自然科学版）》
EI
CAS
CSCD
北大核心
2007年第1期131-134,共4页
Journal of Tsinghua University(Science and Technology)
基金
国家"八六三"高技术项目(2003AA421060)
关键词
脑外科机器人
位姿闭环
视觉伺服
光学跟踪
neurosurgical robot
pose closed loop
visual control
optical tracking
