用于微创手术的缆索驱动连续体机器人的运动建模与误差补偿
Motion modelling and error compensation of a cable-driven continuum robot for applications to minimally invasive surgery.
作者信息
Qi Fei, Ju Feng, Bai Dongming, Wang Yaoyao, Chen Bai
机构信息
College of Mechanical and Electrical Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing, China.
The State Key Laboratory of Fluid Power and Mechatronic Systems, Hangzhou, China.
出版信息
Int J Med Robot. 2018 Dec;14(6):e1932. doi: 10.1002/rcs.1932. Epub 2018 Jul 13.
BACKGROUND
The continuum robot is widely used in minimally invasive surgery (MIS) because of its flexibility, dexterity and safety. However, because of the friction in the transmission system, backlash, and shape error from nominal kinematics, the tracking accuracy of the continuum robot is low, which may damage the tissues and organs during surgery. A novel error compensation method is presented to improve control.
METHODS
Considering the nonlinear friction and coupling effects, the static model of a robot is derived based on the principle of virtual work. A modified Capstan equation including bending rigidity and nonlinear friction is established to analyze the transmission characteristics of a cable-pulley system.
RESULTS
The results of the experiments conducted with a continuum robot indicate the validity of the proposed compensation method.
CONCLUSIONS
The established model and the proposed compensation method can be used for the cable-driven continuum robot to guarantee safety and stability in MIS.
背景
连续体机器人因其灵活性、灵巧性和安全性而广泛应用于微创手术（MIS）。然而，由于传动系统中的摩擦、间隙以及与标称运动学的形状误差，连续体机器人的跟踪精度较低，这可能在手术过程中损伤组织和器官。提出了一种新颖的误差补偿方法以改善控制。
方法
考虑非线性摩擦和耦合效应，基于虚功原理推导机器人的静态模型。建立了一个包含弯曲刚度和非线性摩擦的修正绞盘方程，以分析缆绳 - 滑轮系统的传动特性。
结果
使用连续体机器人进行的实验结果表明了所提出补偿方法的有效性。
结论
所建立的模型和提出的补偿方法可用于缆绳驱动的连续体机器人，以确保微创手术中的安全性和稳定性。
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