研究具有时变参数和柔性机械臂的肌腱鞘系统的力和位置控制性能。
Research on force and position control performance of the tendon sheath system with time-varying parameters and flexible robotic arms.
机构信息
College of Mechanical Engineering, Guangxi University, Guangxi, China.
Guangxi Key Laboratory of Manufacturing System & Advanced Manufacturing Technology, School of Mechanical Engineering, Guangxi University, Guangxi, China.
出版信息
Int J Med Robot. 2023 Aug;19(4):e2517. doi: 10.1002/rcs.2517. Epub 2023 Apr 12.
BACKGROUND
The tendon-sheath-system (TSS) is an excellent medium for remote power transmission, which is widely used in laparoscopic surgery robots. Since the operation process requires the robot to move continuously, this time-varying characteristic further aggravates the force and position transmission loss caused by the nonlinear friction of TSS, which affects the control accuracy of the surgical robot.
METHOD
A time-varying tendon-sheath transmission model (RT model) is proposed. A feedforward control system is designed to improve tendon-sheath transmission accuracy. Furthermore, a tendon-sheath transmission model with velocity characteristics (RV model) is established.
RESULT
Force, position, and velocity experiments were carried out on the platform of TSS with a robotic arm. The results show that the R-square values of force and position compensation are at least 96.57% and 99.16%.
CONCLUSION
The proposed RT and RV models are effective in compensating for the TSS transmission loss during the operation of the surgical robot.
背景
肌腱鞘系统（TSS）是一种优秀的远程动力传输介质，广泛应用于腹腔镜手术机器人中。由于手术过程需要机器人不断移动，这种时变特性进一步加剧了 TSS 非线性摩擦引起的力和位置传输损失，从而影响了手术机器人的控制精度。
方法
提出了一种时变肌腱鞘传输模型（RT 模型）。设计了一个前馈控制系统，以提高肌腱鞘传输精度。此外，建立了具有速度特性的肌腱鞘传输模型（RV 模型）。
结果
在带有机械臂的 TSS 平台上进行了力、位置和速度实验。结果表明，力和位置补偿的 R 平方值至少为 96.57%和 99.16%。
结论
所提出的 RT 和 RV 模型可有效补偿手术机器人操作过程中 TSS 传输损耗。
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