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基于力反馈的颅颌面骨科手术机器人协调控制 被引量：1

Cooperative Control of Cranio-maxillofacial Surgical Robot Based on Force-feedback
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摘要 虚拟约束基于操作空间的正交分解,将末端执行器的位置和姿态空间分别分解为自由运动和受约束运动2部分,实现准确的预定义轨迹跟踪和灵活的器械姿态调整;医生借助力反馈获得可靠的临场感,依据自己的经验判断调整手术进度、施力大小,达到对手术操作的控制。 The concept of virtual fixtures is used to restrict motion of the robot manipulator ac- cording to pre - operatively defined trajectory and posture constraints. Orthogonal decomposition is used here to assign control of the manipulator to the surgeon and the robot seamlessly. Moreover, force- feedback technology is introduced to make the surgeon ＂feel＂ the cutting force during opera- tion.
作者 张海青 栾楠 张诗雷 桂海军 袁斯辰
机构地区 上海交通大学机械与动力工程学院 上海交通大学医学院附属第九人民医院
出处 《机械与电子》 2012年第5期62-65,共4页 Machinery & Electronics
基金 国家自然科学基金资助项目(30801302)
关键词 协调控制 虚拟约束 姿态空间 位置空间 力反馈 cooperative robotics virtual fix-tures posture space trajectory space force feed-back
分类号 TH787 [机械工程—精密仪器及机械]
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参考文献7

  • 1Taylor R H, et al. An image - directed robotic system for precise orthopaedic surgery[J]. IEEE Trans. Ro- bot. Automat. ,1994,(10) :261--275.
  • 2Davies B L,et al. Active compliance in robotic surgerythe use of force control as a dynamic constraint [J]. Proceedings of the Institution of Mechanical Engi- neers - H, 1997,211 (4) :285--292.
  • 3Sugita N,et al. Adaptive Controlled Milling Robot for Orthopedic Surgery[C]. ICRA, 2002.
  • 4Burghart C, et al. Robot Controlled Osteotomy in Craniofacial surgery[C]. ICRA, 1999.
  • 5Cruces Castillo R A,Wahrburg J. Improving robot arm control for safe and robust haptic cooperation in ortho- paedic procedures[J]. Int J Med Robotics and Comput Assist Surg,2007,3(4) :316--322.
  • 6Bettini A,et al. Vision- assisted control for manipula- tion using virtual fixtures[J]. IEEE Transactions on Robotics, 2004,20 (6) : 963 -- 966.
  • 7Ming Li,Taylor R H. Performance of surgical robots with automatically generated spatial virtual fixtures [C]. ICRA,2005.

同被引文献12

  • 1史英海,王越超.基于Internet的力反馈技术研究[J].机器人,2004,26(4):330-335. 被引量：3
  • 2Rakhsha R, Constantinescu D. Distributed baptic cooperation with passive multirate wave eommunieations[C]// IEEE Hapties Symposium 2012. Canada, 2012 : 117-123.
  • 3Kammerl J, Vittorias I, Nitseh V, et al. Perception-based data reduction for haptic force-feedback signals using adaptive dead- bands[J]. MIT Press Journals, Presence: Teleoperators and Vir- tual Environments, 2010,19 (5) : 450-462.
  • 4Yap K M. Supporting Collaborative Interaction with Real Time Force Feedback in Distributed Haptic Virtual Environments o- ver IP Networks[C]//Proceedings of the IEEE Fourth Interna- tional Conference on Genetic and Evolutionary Computing (ICX3[C-2010). Shenzhen, 2010 : 497-500.
  • 5Yap K M, Lee T H. A Study to Support Haptic Collaboration with Real Time Force Feedback over Wireless Networks[C]// 2011 First International Conference on Robot, Vision and Signal Processing(RVSP). Kaohsiung, 2011 : 348-351.
  • 6Yap K M, Lee T H. A Study to Support Haptie Collaboration with Real Time Force Feedback over Wireless Networks[C]/// 2011 First International Conference on Robot, Vision and Signal Proeessing(RVSP). Kaohsiung, 2011 : 348-351.
  • 7Lee Dong-jun, Huang Ke. Peer-to-peer control architecture for multiuser haptics collaboration over undirected delayed packet- switching network[C]//Proc. IEEE International Conference on Robotics&- Automation(ICRA). 2010,1333-1338.
  • 8Bhattacharjee T, Son H I, Lee D Y. Haptic control with environ- ment force estimation for tele surgery[C]//Conf Proc IEEE Eng Med Biol Soc. 2008:3241-3244.
  • 9Natarajan S, Ganz A. Efficient force feedback transmission sys- tem for tele-surgery[C]//Conf Proc IEEE Eng Med Bid SOc. 2008:3245-3248.
  • 10Hu Ling-yan, Xin Yong, Peng Jie, et al. The excitation controller of synchronous generator employing PID and fuzzy integrated algorithm based on S3C2410A[C]//Proceedings of IS[CS Inter- national Colloquium on Computing, Communication, Control, and Management. Guangzhou, 2008: 44-48.

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机械与电子
2012年 第5期

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