微创手术机器人控制策略

Control Strategies of Minimally Invasive Surgery Robot

在充分分析传统微创技术约束条件的基础上,对主从式微创手术机器人系统的控制策略进行了研究.结合微创手术机器人的运动特点及手术操作需求,建立了运动一致性控制、相对式运动控制及比例控制等控制策略,解决了手术过程中眼手运动不协调、运动比例变化及干涉等问题.基于"MicroHand A"系统,通过实验手段对所建立的控制策略进行了验证.结果表明,所建立的控制策略能够解决传统微创技术在操作上存在的问题,并可使复杂的手术操作变得简单,验证了所建立的控制策略的准确性和有效性.

Based on the analysis of MIS constraints, the control strategies of master-slave robot for assisting MIS were investigated. A survey on characterizing the motion of MIS robot was conducted leading to the establishment of intuitive control strategy, relative motion control strategy and scaling control strategy, which further resulted in the solution of eye-hand motion incoordination, motion changing and interface problems during surgery. Furthermore, based on ＂MicroHand A＂ MIS robot system, experiments were carried out to verify the effectiveness of the control strategies. It has been revealed that the proposed control strategies can not only solve the problems existing in MIS but make the complex operations easy. Accurateness and effectiveness of the control strategies have been verified.