期刊文献+
任意字段
题名或关键词
题名
关键词
文摘
作者
第一作者
机构
刊名
分类号
参考文献
作者简介
基金资助
栏目信息

微创手术机器人的力/位解耦协同智能控制 被引量：2

Decoupled and Coordinated Intelligent Force-position Control for Minimally Invasive Surgical Robot
原文传递
导出
摘要 为解决目前市场上可利用的微创手术机器人都不包含重要的触觉(力)反馈机制的问题,根据人体内部双边解耦协同的生理调控机制,结合微创手术机器人的控制特性,开发了一种新颖的力/位解耦协同控制策略,并设计相应的智能控制系统.通过4个3自由度触觉操纵器装置,对提出的智能控制系统性能进行了真实的实验验证.实验结果表明,提出的控制系统能够实现力/位信号的解耦与协同控制.操作者能够获得准确的力反馈信号,确保机器人和谐、平稳地完成任务. In order to solve the problem that current commercially available minimally surgical robots do not include significant haptic（force） feedback mechanism,a novel decoupled and coordinated force-position control strategy with corresponding intelligent control system design is proposed based on bilateral decoupled and coordinated bio-regulation mechanism in human body,in which control features of minimally surgical robots are considered.Actual experiments are carried out with four 3-DOF（degree of freedom） haptic manipulators to illustrate the performance of the proposed intelligent controller system.The results indicate that the proposed control system can achieve decoupled and coordinated force-position control.The operator can get accurate force feedback to guarantee robot performing task harmoniously and stably.
作者 郭崇滨 郝矿荣 丁永生
机构地区 东华大学信息科学与技术学院 数字化纺织服装技术教育部工程研究中心
出处 《机器人》 EI CSCD 北大核心 2013年第1期73-80,共8页 Robot
基金 国家自然科学基金重点资助项目(61134009) 国家自然科学基金资助项目(60975059 60775052) 国家ITER计划国内配套研究项目(2010GB108004) 教育部高等学校博士学科点专项科研基金资助项目(20090075110002) 上海市优秀学术带头人计划资助项目(11XD1400100) 上海领军人才专项资金资助项目 上海市科学技术委员会重点基础研究项目(11JC1400200 10JC1400200) 上海市科学技术委员会技术标准专项项目(10DZ0506500)
关键词 微创手术 达芬奇机器人 解耦控制 协同控制 力 位控制 模糊控制器 minimally invasive surgery da Vinci robot decoupled control coordinated control force-position control fuzzy controller
分类号 TP24 [自动化与计算机技术—检测技术与自动化装置]
  • 相关文献

参考文献13

  • 1Kitagawa M,Dokko D,Okamura A M. Effect of sensory substitution on suture-manipulation forces for robotic surgical systems[J].Journal of Thoracic and Cardiovascular Surgery,2005,(01):151-158.
  • 2Okamura A M. Methods for haptic feedback in teleoperated robot-assisted surgery[J].Industrial Robot,2004,(06):499-508.
  • 3Bethea B T,Okamura A M,Kitagawa M. Application of haptic feedback to robotic surgery[J].Journal of Laparoendoscopic and Advanced Surgical Techniques:A,2004,(03):191-195.
  • 4Tavakoli M,Patel R V,Moallem M. Haptic interaction in robotassisted endoscopic surgery:A sensorized end-effector[J].International Journal of MedicalRobotics and Computer Assisted Surgery,2005,(02):53-63.
  • 5Reiley C E,Akinbiyi T,Burschka D. Effects of visual force feedback on robot-assisted surgical task performance[J].Journal of Thoracic and Cardiovascular Surgery,2008,(01):196-202.
  • 6van der Meijden O A J,Schijven M P. The value of haptic feedback in conventional and robot-assisted minimal invasive surgery and virtual reality training:A current review[J].SURGICAL ENDOSCOPY AND OTHER INTERVENTIONAL TECHNIQUES,2009,(06):1180-1190.
  • 7Nuno E,Ortega R,Barabanov N. A globally stable PD controller for bilateral teleoperators[J].IEEE Transactions on Robotics,2008,(03):753-758.
  • 8Sirouspour S. Modeling and control of cooperative teleoperation systems[J].IEEE Transactions on Robotics,2005,(06):1220-1225.
  • 9Mitra S,Hayashi Y. Bioinformatics with soft computing[J].IEEE Transactions on Systems Man and Cybernetics:Part C,2006,(05):616-635.
  • 10Ding Y S,Liu B. An intelligent bi-cooperative decoupling control approach based on modulation mechanism of internal environment in body[J].IEEE Transactions on Control Systems Technology,2011,(03):692-698.

二级参考文献14

  • 1allel manipulators [ J ]. Mechanism and Machine Theory, 2003, 38(1) : 85-101.
  • 2YI Y, MCINROY J E, CHEN Y. Fault tolerance of parallel manipulators using task space and kinematic redundancy [J]. IEEE Transactions on Robotics, 2006, 22(5) : 1017- 1021.
  • 3NOTASH L. A methodology for actuator failure recovery in parallel manipulators [ J]. Mechanism and Machine Theory, 2011, 46(4): 454-465.
  • 4UKIDVE C S, MCINROY J E, JAFARI F. Using redun- dancy to optimize manipulability of stewart platforms [J]. IEEE/ASME Transactions on Meehatronics, 2008, 13 (4) : 475 -479.
  • 5SONG Q, YIN L. Robust adaptive fault accommodation for a robot system using a radial basis function neural network [J]. International Journal of Systems Science, 2001, 32 (2) : 195-204.
  • 6ZHANG K, JIANG B, STAROSWIECKI M. Dynamic out- put feedback fault tolerant controller design for Takagi-Suge- no fuzzy systems with actuator faults[ J]. IEEE Transactions on Fuzzy Systems, 2010, 18(1 ) : 194-201.
  • 7TINSOR, TERRA M H, BERGERMAN M. A fault toler- ance framework for cooperative robotic manipulators [ J ]. Control Engineering Practice, 2007, 15 (5) : 615-625.
  • 8TYURIN K V, KHANIN M A. Hemostasis as an optimal system [ J ]. Mathematical Biosciences, 2006, 204 (2) : 167-184.
  • 9ZHAO J, ZHANG K, YAO X. Study on fault tolerant workspace and fault tolerant planning algorithm based on optimal initial position for two spatial coordinating manipu- lators[ J]. Mechanism and Machine Theory, 2006, 41 (5) : 584-595.
  • 10ROBERTS R G, YU H G, MACIEJEWSKI A A. Funda- mental limitations on designing optimally fault-tolerant re- dundant manipulators[ J]. IEEE Transactions on Robotics, 2008, 24(5) : 1224-1237.

共引文献3

同被引文献21

  • 1李丙春.粒子群优化算法及其应用[J].喀什师范学院学报,2006,27(3):66-68. 被引量：2
  • 2Taylor R H. A perspective on medical robotics[J]. Proceedings of the IEEE, 2006, 94(9): 1652-1664.
  • 3Sun L W, Yeung C K. Port placement and pose selection of the da Vinci surgical system for collision-free intervention based on performance optimization[C]//IEEE/RSJ International Con- ference on Intelligent Robots and Systems. Piscataway, USA: IEEE, 2007: 1951-1956.
  • 4Trejos A L, Patel R V. Port placement for endoscopic cardiac.surgery based on robot dexterity optimization[C]//1EEE Inter- national Conference on Robotics and Automation. Piscataway, USA: IEEE, 2005: 912-917.
  • 5Cannon J W, Stoll J A, Selha S D, et al. Port placement planning in robot-assisted coronary artery bypass[J]. IEEE Transactions on Robotics and Automation, 2003, 19(5): 912-917.
  • 6Wang Y F, Uecker D R, Wang Y L. A new framework for vision- enabled and robotically assisted minimally invasive surgcry[J]. Computerized Medical Imaging and Graphics, 1998, 22(6): 429-437.
  • 7Hayashibe M, Suzuki N, Hashizume M, et al, Robotic surgery setup simulation with the integration of inverse-kinematics computation and medical imaging[J]. Computer Methods and Programs in Biomedicine, 2006, 83( 1 ): 63-72.
  • 8Gosselin C, Angeles J. A global perlbrmance index for the kine- matic optimization of robotic manipulators[J]. Journal of Me- chanical Design, 1991, 113(3): 220-226.
  • 9Stocco L, Salcudean S E, Sassani F. Fast constrained global minimax optimization of robot parameters[J]. Robotica, 1998, 16(6): 595-605.
  • 10Lehmann G, Chiu A, Gobbi D, et al. Towards dynamic planning and guidance of minimally invasive robotic cardiac bypass sur- gical procedures[C]//4th International Conference on Medical Image Computing and Computer-Assisted Intervention. Berlin, Germany: Springer-Verlag, 2001 : 368-375.

引证文献2

二级引证文献4

机器人
2013年 第1期

相关作者

内容加载中请稍等...

相关机构

内容加载中请稍等...

相关主题

内容加载中请稍等...

浏览历史

内容加载中请稍等...
;
使用帮助 返回顶部