School of Mechanical Engineering, Tianjin University, People's Republic of China.
Int J Med Robot. 2011 Sep;7(3):334-47. doi: 10.1002/rcs.403. Epub 2011 Jul 5.
Compared with conventional minimally invasive surgery and open surgery, robotic-assisted minimally invasive surgery can overcome or eliminate drawbacks caused by operator restrictions, motion limitation by the trocar and the image system, such as fatigue, trembling, low precision, constrained degree-of-freedom, poor hand-eye coordination and restricted surgical vision. In this paper, a novel partly tendon-driven master-slave robot system is proposed to assist minimally invasive surgery and a master-slave control architecture is developed for abdominal surgical operations.
A novel master-slave surgery robot system named MicroHand A has been developed. A kinematic analysis of master and slave manipulators was conducted, based on screw theory and vector loop equation. The relationships of the tendon-driven multi-DOF surgical instrument among Cartesian space, actuator space and joint space were derived for control purposes. The control system architecture of the MicroHand A was designed with intuitive motion control and motion scaling control. Llewellyn's absolute stability criterion and the transparency of the one-DOF master-slave system are also analysed.
Intuitive motion control under dissimilar kinematics in master-slave manipulations and motion scaling control were accomplished to solve absonant hand-eye coordination, kinematic dissimilarity and workspace mismatch of master-slave manipulator problems. A series of tests and animal experiments were carried out to evaluate system performance. The experimental results demonstrate that the system could accomplish intuitive motion control and motion scaling control, and that the control system is stable and reliable.
The experiments performed on the MicroHand A robotic system yielded expected control results. The system satisfies the requirements of minimally invasive surgery. Intuitive motion control and motion scaling control under different kinematics for the master and slave have been implemented.
与传统的微创手术和开放手术相比，机器人辅助微创手术可以克服或消除由操作人员限制、套管和图像系统的运动限制引起的缺陷，例如疲劳、颤抖、精度低、自由度受限、手眼协调差和手术视野受限。在本文中，提出了一种新型部分腱驱动主从机器人系统，用于辅助微创手术，并为腹部手术开发了主从控制架构。
开发了一种名为 MicroHand A 的新型主从手术机器人系统。基于螺旋理论和向量回路方程，对主从操作器进行了运动学分析。为了控制目的，推导了多自由度手术器械在笛卡尔空间、执行器空间和关节空间之间的腱驱动关系。设计了 MicroHand A 的控制系统架构，具有直观的运动控制和运动缩放控制。还分析了 Llewellyn 的绝对稳定性准则和一自由度主从系统的透明度。
在主从操作中完成了具有不同运动学的直观运动控制和运动缩放控制，以解决手眼协调不良、运动学差异和主从操作器工作空间不匹配的问题。进行了一系列测试和动物实验以评估系统性能。实验结果表明，该系统能够完成直观的运动控制和运动缩放控制，并且控制系统稳定可靠。
在 MicroHand A 机器人系统上进行的实验得到了预期的控制结果。该系统满足微创手术的要求。已实现主从不同运动学下的直观运动控制和运动缩放控制。
