微创外科机器人力反馈跟踪控制

Haptic Tracking Control for Minimally Invasive Robotic Surgery

针对微创外科机器人(MIRS)力觉反馈缺失问题,构建了主从机器人力反馈控制系统,采用Newton-Euler法建立了力反馈机器人的动力学模型,提出了实时力反馈控制策略。实验验证了该系统及其方法的有效性,具有理论研究和临床应用价值,可用于外科机器人的远程手术。

Haptie feedback plays a significant role in minimally invasive robotic surgery （MIRS）. A major deficiency of the current MIRS is the lack of haptic perception for the surgeon, including the commercially available robot da Vinci surgical system. In this paper, a dynamics model of a haptic robot is established based on Newton-Euler meth- od. Because it took some period of time in exact dynamics solution, we used a digital PID arithmetic dependent on ro- bot dynamics to ensure real-time bilateral control, and it could improve tracking precision and real-time control effi- ciency. To prove the proposed method, an experimental system in which two Novint Falcon haptic devices acting as master-slave system has been developed. Simulations and experiments showed proposed methods could give instru- ment force feedbacks to operator, and bilateral control strategy is an effective method to master-slave MIRS. The proposed methods could be used to tele-robotic system.