Huang Fang, Sang Hongqiang, Liu Fen, Han Rui
School of Mechanical Engineering, Tiangong University, Tianjin, China.
Tianjin Key Laboratory of Advanced Mechatronic Equipment Technology, Tiangong University, Tianjin, China.
Int J Med Robot. 2025 Apr;21(2):e70060. doi: 10.1002/rcs.70060.
Compared with traditional open surgery, robotic-assisted minimally invasive surgery lacks force sensing ability.
A sensorless transparency optimised force safety mechanism is put forward to improve the external force safety of the surgical robot in this paper. An improved fixed-time indirect adaptive fuzzy controller is proposed to approximate the unknown uncertainties in the dynamics of the patient-side manipulator. An online force simulation controller is designed based on the hierarchical force.
Simulations and experiments demonstrate that the designed fixed-time indirect adaptive fuzzy controller exhibits excellent performance in trajectory tracking, fixed-time convergence, fuzzy approximation, and smooth control input. In addition, the online force simulation controller effectively decreases the force in the potentially unsafe area, thereby inhibiting the unsafe force.
This mechanism offers potential applications to improve the safety of external forces for the sensorless surgical robots.
与传统开放手术相比，机器人辅助微创手术缺乏力传感能力。
本文提出一种无传感器透明度优化力安全机制，以提高手术机器人的外力安全性。提出一种改进的固定时间间接自适应模糊控制器，用于逼近患者侧操作器动力学中的未知不确定性。基于分层力设计了一种在线力仿真控制器。
仿真和实验表明，所设计的固定时间间接自适应模糊控制器在轨迹跟踪、固定时间收敛、模糊逼近和平滑控制输入方面表现出优异性能。此外，在线力仿真控制器有效降低了潜在不安全区域的力，从而抑制了不安全力。
该机制为提高无传感器手术机器人的外力安全性提供了潜在应用。
