一种基于投影面的手术器械碰撞预警算法

An Early Warning Algorithm for Operation Instruments' Collision Based on Projection Plane

针对手术机器人的安全性,对手术器械的碰撞预警技术进行了研究.介绍了双臂手术机器人模型,基于Denavit-Hartenberg方法(D-H方法)建立了该模型的运动学坐标系.建立了机器人手术器械组件的圆柱体包装盒,根据两个圆柱体包装盒的轴线段所在直线必定存在公垂线的原理,提出了基于投影面的机器人手术器械碰撞预警算法.仿真结果表明,该算法可以对手术器械的碰撞进行有效预警,为微创外科手术仿真和利用外科手术机器人进行真正的手术奠定了基础.

Aiming at the safety issue of the surgical robot, the early warning technology for operation instruments＇ collision is studied. The model of the two-arm surgical robot is stated, and the kinematic coordinate system is established based on Denavit-Hartenberg method （D-H method）. The cylinder boxes for the subassemblies of each instrument are set up, and the early warning algorithm for collision of the instruments based on the projection plane is proposed according to the theory that the axes of the two boxes have the common perpendicular line. The simulation results show that the algorithm can be employed in the early warning for the collision of the instruments avallably, and it sets good base for the future minimally invasive surgery simulation and the real operation using the robot.