微创手术机器人丝传动器械的夹持力补偿模型

Modeling of Clamping Force Compensation of Cable-Driven Instrument for Minimally Invasive Surgical Robot

稳定有效的手术器械夹持力输出是保证机器人辅助微创手术顺利完成的基本条件.为实现手术器械夹持力的稳定输出,有效提高微创手术(MIS)机器人手术操作质量,提出了一种基于夹持力预测的力补偿模型.在此基础上计算了器械不同姿态下的开合关节驱动力矩的补偿量,利用该方法所构建的夹持力补偿模型可应用于对丝传动手术器械夹持力的输出控制中.该建模方法的优点是只需要用到姿态信息与夹持力信息两种数据,而无需考虑器械传动中间环节中的各种复杂因素对夹持力的影响.最后,通过基于样机系统的实验研究验证了所提出的微创手术机器人丝传动器械夹持力补偿建模方法的可行性.

A stable and effective clamping force output of instrument is the basic condition to ensure the smooth robotassisted minimally invasive surgery.To achieve the stable clamping force output of surgical instrument and improve the operation quality of minimally invasive surgical(MIS)robot,a modeling method for clamping force compensation based on force prediction was developed.The compensation quantity of clamp joint torque for surgical instruments in different attitudes was calculated based on the modeling method,and the clamping force compensation model was applied to the output control of cable-driven surgical instruments of MIS robot.This modeling method has the virtue of only requiring two kinds of data:attitude information and clamping force information,without considering the influence of various complex factors on clamping force in the intermediate links of device transmission.Finally,the feasibility of the proposed method was verified through experimental research based on a prototype system.