MSTU "STANKIN", Vadkovsky per., 1, Moscow, 127055, Russia.
J Robot Surg. 2022 Apr;16(2):445-452. doi: 10.1007/s11701-021-01261-0. Epub 2021 Jun 8.
The development of robotics and medicine in recent years leads to increasing mutual integration of these two disciplines. The use of specialized robotic solutions in medicine poses new challenges, including the issue of safety. The paper analyzes existing solutions aimed at improving safety in medical robotics. The concept of spatial motion restriction zones-areas of space affecting the process of robot-assisted surgery and designed to minimize risks for the patient is proposed. Various applications of such zones are considered, such as: creating an optimal medical tool path when planning an operation, an adaptive movement restriction during manual manipulator control, including limiting maximum velocity. An approach to adaptively changing the parameters of motion restriction zones is presented, and possible data sources for this change are considered. A technique is introduced for using a hybrid motion restriction zone, combining several zones into a single complex system with various types of interaction. Approaches to manual control of a collaborative robot, including the use of force-torque sensors, are considered.
近年来，机器人技术和医学的发展导致这两个学科的日益融合。在医学中使用专业的机器人解决方案带来了新的挑战，包括安全问题。本文分析了旨在提高医疗机器人安全性的现有解决方案。提出了空间运动限制区域的概念——影响机器人辅助手术过程的空间区域，并设计用于最大程度地降低患者风险。考虑了此类区域的各种应用，例如：在手术规划时创建最佳的医疗工具路径，在手动操纵器控制期间自适应地限制运动，包括限制最大速度。提出了一种自适应改变运动限制区域参数的方法，并考虑了这种变化的可能数据源。引入了一种使用混合运动限制区域的技术，将几个区域组合成具有各种类型交互的单个复杂系统。考虑了协作机器人的手动控制方法，包括使用力/扭矩传感器。
