面向眼内手术的主操作器设计与零力控制方法研究

Design of a Master Manipulator for Intraocular Surgeries and Research on Zero-force Control Methods

以视网膜血管注药为代表的眼内手术需要医生在眼内狭小空间中实现长时间、微米级精准操作。受限于医生手部的生理性颤抖、力感知能力,目前这一术式难以应用于临床实践。主从式手术机器人为解决此问题提供了可行途径,该方法中医生通过主操作器控制从机器人完成手术,可规避前述不足对手术效果的影响。但常用的主操作器面向的是通用环境,自由度类型、控制方法均不符合眼内手术的应用场景,导致医生学习成本过高。针对此问题,提出一种面向眼内手术的主操作器,进行了构型和结构设计、样机制作和装配,并完成了对主操作器的动力学参数辨识和基于转矩控制的零力控制算法设计与验证。

Represented by intravitreal injection of retinal vessels,intraocular surgeries require doctors to achieve long-term,micron-level precision operations within the narrow space of the eye.Due to the physiological tremor and limited haptic perception of the human hand,this procedure is currently challenging to apply in clinical practice.Master-slave surgical robots provide a feasible solution to address this issue,where doctors control the slave robot through a master manipulator to perform the surgery,thereby avoiding the limitations mentioned above and their impact on surgical outcomes.However,the commonly used master manipulators are designed for general environments and their degrees of freedom and control methods are not suitable for intraocular surgeries,resulting in a high learning cost for doctors.To address this problem,a primary manipulator targeting intraocular surgery is proposed.The configuration and structural design,prototype fabrication and assembly were conducted,followed by the identification of dynamic parameters and the design and validation of a torque-based zero-force control algorithm for the primary manipulator.