用于溶骨性病变治疗的机器人手臂和连续体操纵器协同控制的开发与实验评估
Development and Experimental Evaluation of Concurrent Control of a Robotic Arm and Continuum Manipulator for Osteolytic Lesion Treatment.
作者信息
Wilkening Paul, Alambeigi Farshid, Murphy Ryan J, Taylor Russell H, Armand Mehran
机构信息
Department of computer Science, Johns Hopkins university, Baltimore, MD uSA.
Department of Mechanical Engineering, Johns Hopkins university, Baltimore, MD, uSA.
出版信息
IEEE Robot Autom Lett. 2017 Jul;2(3):1625-1631. doi: 10.1109/lra.2017.2678543. Epub 2017 Mar 6.
Abstract
This paper presents the development and evaluation of concurrent control of a robotic system for less-invasive treatment of osteolytic lesions behind an acetabular implant. This system implements safety constraints including a remote center of motion (RCM), virtual walls, and joint limits while operating through the screw holes of the acetabular implant. The formulated linear constrained optimization problem ensures these constraints are satisfied while maintaining precise control of the tip of a Continuum Dexterous Manipulator (CDM) attached to a positioning robot. Experiments evaluated the performance of the tip control method within an acetabular cup. The controller reliably reached a series of goal points with a mean error of 0.42 mm and a worst-case error of straying 1.0 mm from our path.
摘要
本文介绍了一种用于髋臼植入物后方溶骨性病变微创治疗的机器人系统并发控制的开发与评估。该系统在通过髋臼植入物的螺孔操作时，实施了包括运动远程中心（RCM）、虚拟壁和关节限制在内的安全约束。所制定的线性约束优化问题确保在保持对连接到定位机器人的连续灵巧机械手（CDM）尖端精确控制的同时满足这些约束。实验评估了髋臼杯内尖端控制方法的性能。控制器可靠地到达了一系列目标点，平均误差为0.42毫米，最坏情况下偏离路径的误差为1.0毫米。
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