Guo Jing, Liu Chao, Poignet Philippe
Annu Int Conf IEEE Eng Med Biol Soc. 2015 Aug;2015:4894-7. doi: 10.1109/EMBC.2015.7319489.
The advance of minimally invasive surgery has been empowered by new medical/surgical robotic systems towards achieving less invasiveness, smaller or even no scars. Wireless communication possesses great potential to be utilized in miniaturized surgical robotic system. However time delay is inevitably introduced in the control loop which causes stability issues for robotic-assisted surgeries. Wave variable based teleoperation structure provides stable force reflecting teleoperation performance but with both position and force tracking performance compromised due to conservative passivity condition. Recently, we proposed a new wave variable compensated structure to improve position and force tracking performance together with energy reservoir based regulators for stability purpose. In this paper, different energy reservoir based regulators are proposed with consideration of passivity of master and slave system to avoid uncertain compensated wave variables. Experiments are designed to evaluate the performance of proposed structure in comparison with traditional wave variable structure. Quantitative analyses of the obtained results justify the efficiency of proposed method.
新型医疗/手术机器人系统推动了微创手术的发展，使其朝着创伤更小、疤痕更小甚至无疤痕的方向发展。无线通信在小型化手术机器人系统中具有巨大的应用潜力。然而，控制回路中不可避免地会引入时间延迟，这给机器人辅助手术带来了稳定性问题。基于波变量的遥操作结构提供了稳定的力反馈遥操作性能，但由于保守的无源条件，其位置和力跟踪性能都会受到影响。最近，我们提出了一种新的波变量补偿结构，以提高位置和力跟踪性能，并结合基于能量存储的调节器来实现稳定性。本文考虑主从系统的无源性，提出了不同的基于能量存储的调节器，以避免不确定的补偿波变量。设计实验以评估所提出结构与传统波变量结构相比的性能。对所得结果的定量分析证明了所提方法的有效性。
