Bai Weibang, Cao Qixin, Leng Chuntao, Cao Yang, Fujie Masakatsu G, Pan Tiewen
Research Institute of Robotics, Research Institute of Biomedical Manufacturing and Life Quality Engineering, State Key Lab of Mechanical Systems and Vibration, Shanghai Jiao Tong University, Shanghai, China.
Engineering Training Center, Shanghai Jiao Tong University, Shanghai, China.
Int J Med Robot. 2017 Sep;13(3). doi: 10.1002/rcs.1844. Epub 2017 Jul 30.
Research into robotic systems for single port surgery (SPS) has become widespread around the world in recent years. A new robot arm system for SPS was developed, but its positioning platform and other hardware components were not efficient. Special features of the developed surgical robot system make good teleoperation with safety and efficiency difficult.
A robot arm is combined and used as new positioning platform, and the remote center motion is realized by a new method using active motion control. A new mapping strategy based on kinematics computation and a novel optimal coordinated control strategy based on real-time approaching to a defined anthropopathic criterion configuration that is referred to the customary ease state of human arms and especially the configuration of boxers' habitual preparation posture are developed.
The hardware components, control architecture, control system, and mapping strategy of the robotic system has been updated. A novel optimal coordinated control strategy is proposed and tested.
The new robot system can be more dexterous, intelligent, convenient and safer for preoperative positioning and intraoperative adjustment. The mapping strategy can achieve good following and representation for the slave manipulator arms. And the proposed novel control strategy can enable them to complete tasks with higher maneuverability, lower possibility of self-interference and singularity free while teleoperating.
近年来，针对单孔手术（SPS）机器人系统的研究在全球范围内广泛开展。一种用于SPS的新型机器人手臂系统被研发出来，但其定位平台及其他硬件组件效率不高。所研发的手术机器人系统的特殊特性使得实现安全高效的远程操作变得困难。
将一个机器人手臂组合起来用作新的定位平台，并通过一种采用主动运动控制的新方法实现远程中心运动。基于运动学计算开发了一种新的映射策略，以及一种基于实时趋近定义的拟人化标准配置的新型最优协调控制策略，该标准配置参照人类手臂的惯常舒适状态，特别是拳击手习惯性准备姿势的配置。
机器人系统的硬件组件、控制架构、控制系统及映射策略已得到更新。提出并测试了一种新型最优协调控制策略。
新的机器人系统在术前定位和术中调整方面可以更加灵活、智能、便捷且安全。该映射策略能够实现对从动机械手的良好跟随和再现。并且所提出的新型控制策略能使它们在远程操作时以更高的机动性、更低的自干扰可能性和无奇异性地完成任务。
