主操作手设计及其位置与姿态解耦的实验验证——用于腹腔镜手术机器人
Design and experimental validation of a master manipulator with position and posture decoupling for laparoscopic surgical robot.
机构信息
School of Control Science and Engineering, Shandong University, Jinan, China.
Engineering Research Center of Intelligent Unmanned System, Ministry of Education, Jinan, China.
出版信息
Int J Med Robot. 2022 Aug;18(4):e2398. doi: 10.1002/rcs.2398. Epub 2022 Apr 2.
BACKGROUND
The master manipulator with position and posture decoupling and force feedback can improve the immersion of the operation, and the gravity balance can reduce the fatigue of surgeons.
METHODS
A seven degree of freedom master manipulator is developed. The parallelogram structure and the angle conversion method contribute to the realization of decoupling position and posture. The calculating method based on the virtual work principle is adopted to achieve the passive gravity balance. The relationship between the master manipulator's joint torque and output force is established to achieve force feedback.
RESULTS
A prototype of the master manipulator was built and its performance was experimentally evaluated. The maximum value of the positioning mean absolute error is 1.2 mm. The maximum absolute error of the force-feedback is 0.32 N.
CONCLUSION
With the functions of positioning, gravity balance, and force feedback, our manipulator shows the potential for single port laparoscopic surgery.
背景
具有位置和姿态解耦及力反馈功能的主操作器可以提高手术的沉浸感，而重力平衡可以减轻外科医生的疲劳。
方法
开发了一种具有七个自由度的主操作器。平行四边形结构和角度转换方法有助于实现位置和姿态的解耦。采用基于虚功原理的计算方法实现被动重力平衡。建立主操作器关节扭矩与输出力之间的关系，实现力反馈。
结果
构建了主操作器的原型，并对其性能进行了实验评估。定位均方根误差的最大值为 1.2 毫米。力反馈的最大绝对误差为 0.32 牛。
结论
我们的操作器具有定位、重力平衡和力反馈功能，具有单端口腹腔镜手术的潜力。
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