Robotics and Micro-Systems Center, Soochow University, Suzhou City, Jiangsu Province, People's Republic of China.
Adv Exp Med Biol. 2018;1093:245-262. doi: 10.1007/978-981-13-1396-7_19.
Cooperation between surgeon and robot is one of the key technologies that limit the robot to be widely used in orthopedic clinics. In this study, the evolution of human-robot cooperation methods and the control strategies for typical human-robot cooperation in robot-assisted orthopedics surgery were reviewed at first. Then an intelligent admittance control method, which combines the fuzzy model reference learning control with the virtual constraint control, is proposed to solve the requirements of intuitive human-robot interaction during orthopedics surgery. That is, a variable damping parameter model of the admittance control based on fuzzy model learning control algorithm is introduced to make the robot move freely by using the reference model of surgeon's motion equation with the minimum jerk trajectory. And the virtual constraint control method based on the principle of virtual fixture is adopted to make the robot move within the pre-defined area so as to perform more safe surgery. The basic principle and its realization of this intelligent control method are described in details. At last, a test platform is built based on our designed 6 DOF articulated robot. Experiments of safety and precision on acrylic model with this method show that the robot has the ability of better intuitive interaction and the high precision. And the pilot experiment of bone tumor resection on sawbone model shows the effectiveness of this method.
外科医生与机器人的合作为限制机器人在骨科临床广泛应用的关键技术之一。本研究首先综述了机器人辅助骨科手术中典型人机协作的人机协作方法和控制策略的发展，然后提出了一种智能导纳控制方法，将模糊模型参考学习控制与虚拟约束控制相结合，以解决骨科手术中直观人机交互的要求。也就是说，基于模糊模型学习控制算法的导纳控制的可变阻尼参数模型被引入，以利用具有最小冲击轨迹的外科医生运动方程的参考模型使机器人自由移动。并且采用基于虚拟夹具原理的虚拟约束控制方法，使机器人在预定义的区域内移动，从而进行更安全的手术。详细描述了这种智能控制方法的基本原理及其实现。最后，基于我们设计的 6 自由度关节机器人建立了一个测试平台。通过该方法在丙烯酸模型上进行的安全性和精度测试实验表明，机器人具有更好的直观交互能力和高精度。并且在羊骨模型上进行的骨肿瘤切除初步实验验证了该方法的有效性。
