Department of Instrument Science and Engineering, Shanghai Jiao Tong University, Shanghai, China.
Department of Vascular Surgery, Changhai Hospital, Shanghai, China.
Int J Med Robot. 2020 Oct;16(5):1-10. doi: 10.1002/rcs.2109. Epub 2020 Jun 21.
Robotic Endovascular Intervention System (REIS) has been a focused and interesting area in robot-assisted telesurgery. While, haptic feedback is the latest advancing study in interventional robots. Few systems with haptic feedback are commercialized due to accuracy, instantaneity, and the lack of surgeon previous experience on interventional surgery. In this article, a novel haptic force feedback master hand controller system is proposed to solve the problems. A SEA (Series Elastic Actuators)-based mechanism is designed to provide feedback force with high force/torque fidelity, low impedance, and inertia. Also, the handle of the mechanism is similar to the catheter, making the surgeon operate the telesurgery with his experience. The control model of the system is built, and PID algorithms are explored to realize the motion control. PID parameters are optimized for fast response time and stability. The experiments and results demonstrate that the master hand controller system has maximum feedback force relative error of 3%, instantaneity of 0.89 second and tracking performance of 9 Hz frequency 3 dB bandwidth.
机器人血管内介入系统（REIS）一直是机器人辅助远程手术中一个备受关注且有趣的领域。而触觉反馈则是介入机器人领域的最新研究进展。由于准确性、即时性以及介入手术方面缺乏外科医生的前期经验，仅有少数具有触觉反馈功能的系统实现了商业化。本文提出了一种新型的力反馈主手控制器系统，旨在解决这些问题。该系统设计了一种基于 SEA（串联弹性致动器）的机构，可提供具有高力/扭矩保真度、低阻抗和低惯量的反馈力。此外，该机构的手柄类似于导管，使外科医生能够凭借经验进行远程手术操作。建立了系统的控制模型，并探索了 PID 算法以实现运动控制。优化了 PID 参数以实现快速响应时间和稳定性。实验和结果表明，主手控制器系统的最大反馈力相对误差为 3%，即时性为 0.89 秒，跟踪性能为 9 Hz 频率 3 dB 带宽。
