摘要
针对高效精准微创困难的问题,文中重点采用“集成+局部功能”的自适应耦合控制系统,研制了变路径微创机器人的多电机宏微耦合并行运动和多尺度传感集成控制系统。利用上位机集成控制系统实现协作机器人系统、线控微细变路径机器人和内外视觉传感导航系统的集成智能化伺服控制。通过样机的功能实验,验证了该控制系统具有实现设计方案提出的高效变路径穿刺能力,功能满足设计要求。
To solve the problem of efficient and precise minimally invasive surgery,this article designs coupled motion of the two robot systems.Importantly,the adaptive coupling control method“whole-local functions”is used to control a multi-macro micro coupling combined row motion and multi-scale sensing system.Specifically,the integrated intelligent servo control system includes the collaborative robot,wire controlled micro variable path robots,and visual sensing navigation system,which achieved through the upper computer integrated control system.Through functional experiment,it is verified that the control system has the capability to realize variable path needle feed of the flexible needle,and the performance meets the design requirements.
作者
王冠斌
孙椰望
曹安林
杨鲁伟
WANG Guanbin;SUN Yewang;CAO Anlin;YANG Luwei(Technical Institute of Physics and Chemistry,CAS,Beijing 100190,China;University of Chinese Academy of Science,Beijing 100190,China)
基金
北京市自然基金面上项目“周围神经微创机器人变路径精准穿刺的集成控制机制”(3232017)
中国科学院低温工程学重点实验室青年科技创新项目“机器人柔性微创腰椎神经区的粘滞特性变动机理研究”(CRYOQN202107)
国家智能机器人重大专项“复杂微器件高精度柔性检测装配一体化机器人系统”(2019YFB1310905)。
关键词
线控变路径机器人
智能化
集成控制
内外视觉
wire controlled micro variable path robot
intelligence
integrated control
internal and external visual perception
