面向眼内手术的主操作器设计与零力控制方法研究

doi:10.3901/JME.2024.17.063

机械工程学报 ›› 2024, Vol. 60 ›› Issue (17): 63-71.doi: 10.3901/JME.2024.17.063

• 特邀专栏：面向人民生命健康的机器人技术 • 上一篇下一篇

扫码分享

面向眼内手术的主操作器设计与零力控制方法研究

宗俊杰¹, 杨洋¹, 王朝董¹, 郑昱², 林闯¹, 杨斯钦¹, 广晨汉¹

1. 北京航空航天大学机械工程及自动化学院北京 100191;
2. 南京邮电大学自动化学院南京 210023

收稿日期:2023-05-30 修回日期:2023-09-08 发布日期:2024-10-21
作者简介:宗俊杰，男，1997年出生，硕士研究生。主要研究方向为机器人动力学与控制技术。E-mail:zy2007102@buaa.edu.cn
杨洋，男，1962年出生，博士，教授，博士研究生导师。主要研究方向为机器人机构学、医疗机器人、智能机械设计与控制。E-mail:yang_mech@buaa.edu.cn
王朝董，男，1995年出生，博士研究生。主要研究方向为眼科手术机器人与机器人控制。E-mail:by2007137@buaa.edu.cn
郑昱，男，1993年出生，博士。主要研究方向为机器人动力学与控制技术。E-mail:zhengyu6301@hotmail.com
林闯，男，1996年出生，博士研究生。主要研究方向为机器人控制与计算机视觉。E-mail:linchuang@buaa.edu.cn
杨斯钦，男，1999年出生，硕士研究生。主要研究方向为机器人控制技术。E-mail:jackysqin@163.com
广晨汉(通信作者)，男，1990年出生，博士，博士后。主要研究方向为机械设计、刚性折纸及机构学。E-mail:guangchenhan@buaa.edu.cn
基金资助:
国家重点研发计划(2017YFB1302702)和国家自然科学基金(51875011,52205002)资助项目。

Design of a Master Manipulator for Intraocular Surgeries and Research on Zero-force Control Methods

ZONG Junjie¹, YANG Yang¹, WANG Zhaodong¹, ZHENG Yu², LIN Chuang¹, YANG Siqin¹, GUANG Chenhan¹

1. School of Mechanical Engineering and Automation, Beihang University, Beijing 100191;
2. College of Automation, Nanjing University of Posts and Telecommunications, Nanjing 210023

Received:2023-05-30 Revised:2023-09-08 Published:2024-10-21

摘要/Abstract

摘要： 以视网膜血管注药为代表的眼内手术需要医生在眼内狭小空间中实现长时间、微米级精准操作。受限于医生手部的生理性颤抖、力感知能力，目前这一术式难以应用于临床实践。主从式手术机器人为解决此问题提供了可行途径，该方法中医生通过主操作器控制从机器人完成手术，可规避前述不足对手术效果的影响。但常用的主操作器面向的是通用环境，自由度类型、控制方法均不符合眼内手术的应用场景，导致医生学习成本过高。针对此问题，提出一种面向眼内手术的主操作器，进行了构型和结构设计、样机制作和装配，并完成了对主操作器的动力学参数辨识和基于转矩控制的零力控制算法设计与验证。

关键词: 眼科手术机器人, 主操作器, 动力学参数辨识, 零力控制

Abstract: Represented by intravitreal injection of retinal vessels, intraocular surgeries require doctors to achieve long-term, micron-level precision operations within the narrow space of the eye. Due to the physiological tremor and limited haptic perception of the human hand, this procedure is currently challenging to apply in clinical practice. Master-slave surgical robots provide a feasible solution to address this issue, where doctors control the slave robot through a master manipulator to perform the surgery, thereby avoiding the limitations mentioned above and their impact on surgical outcomes. However, the commonly used master manipulators are designed for general environments and their degrees of freedom and control methods are not suitable for intraocular surgeries, resulting in a high learning cost for doctors. To address this problem, a primary manipulator targeting intraocular surgery is proposed. The configuration and structural design, prototype fabrication and assembly were conducted, followed by the identification of dynamic parameters and the design and validation of a torque-based zero-force control algorithm for the primary manipulator.

Key words: ophthalmic surgical robot, master manipulator, dynamic parameter identification, zero-force control

中图分类号:

TP24

宗俊杰, 杨洋, 王朝董, 郑昱, 林闯, 杨斯钦, 广晨汉. 面向眼内手术的主操作器设计与零力控制方法研究[J]. 机械工程学报, 2024, 60(17): 63-71.

ZONG Junjie, YANG Yang, WANG Zhaodong, ZHENG Yu, LIN Chuang, YANG Siqin, GUANG Chenhan. Design of a Master Manipulator for Intraocular Surgeries and Research on Zero-force Control Methods[J]. Journal of Mechanical Engineering, 2024, 60(17): 63-71.

参考文献

[1] ROGERS S, MCINTOSH R L, CHEUNG N, et al. The prevalence of retinal vein occlusion:pooled data from population studies from the United States, Europe, Asia, and Australia[J]. Ophthalmology, 2010, 117(2):313-319.
[2] WEISS J N, BYNOE L A. Injection of tissue plasminogen activator into a branch retinal vein in eyes with central retinal vein occlusion[J]. Ophthalmology, 2001, 108(12):2249-2257.
[3] GIJBELS A, VANDER POORTEN E B, GORISSEN B, et al. Experimental validation of a robotic comanipulation and telemanipulation system for retinal surgery[C]//5th IEEE RAS/EMBS International Conference on Biomedical Robotics and Biomechatronics. IEEE, 2014:144-150.
[4] LUM M J H, FRIEDMAN D C W, SANKARANARAYANAN G, et al. The RAVEN:Design and validation of a telesurgery system[J]. The International Journal of Robotics Research, 2009, 28(9):1183-1197.
[5] LEE S S, LEE J M. Design of a general purpose 6-DOF haptic interface[J]. Mechatronics, 2003, 13(7):697-722.
[6] WILSON J T, GERBER M J, PRINCE S W, et al. Intraocular robotic interventional surgical system (iriss):Mechanical design, evaluation, and master-slave manipulation[J]. The International Journal of Medical Robotics and Computer Assisted Surgery, 2018, 14(1):e1842.
[7] MEENINK H C M, HENDRIX R, ROSIELLE P, et al. A master-slave robot for vitreo-retinal eye surgery[C]//Proceedings of the 10th International Conference of European Society for Precision Engineering and Nanotechnology, 31 May-4 June 2010, Delft Netherlands. European Society for Precision Engineering and Nanotechnology, 2010:408-411.
[8] KUSHIDA D. Human direct teaching of industrial articulated robot arms based on forceless control[C]//5th Int. Symp. on AROB. 2000:383-386.
[9] 游有鹏, 张宇, 李成刚. 面向直接示教的机器人零力控制[J]. 机械工程学报, 2014, 50(3):10-17. YOU Youpeng, ZHANG Yu, LI Chenggang. Force-free control for the direct teaching of robots[J]. Journal of Mechanical Engineering, 2014, 50(3):10-17.
[10] KUSHIDA D, NAKAMURA M, GOTO S, et al. Flexible motion realized by force free control:pull-out-work by articulated robot arm[C]//Proceedings 2001 ICRA. IEEE International Conference on Robotics and Automation (Cat. No. 01CH37164). IEEE, 2001:2747-2752.
[11] GOTO S. Forcefree control for flexible motion of industrial articulated robot arms[M]. Austria:Pro Literatur Verlag, 2006.
[12] CHARLES M W, BROWN N. Dimensions of the human eye relevant to radiation protection (dosimetry)[J]. Physics in Medicine & Biology, 1975, 20(2):202.
[13] ZHENG Y, LIN C, GUANG C, et al. Operation behaviours of surgical forceps in continuous curvilinear capsulorhexis[J]. The International Journal of Medical Robotics and Computer Assisted Surgery, 2022, 18(5):e2424.
[14] KAWASAKI H, BENIYA Y, KANZAKI K. Minimum dynamics parameters of tree structure robot models[C]//Proceedings IECON'91:1991 International Conference on Industrial Electronics, Control and Instrumentation. IEEE, 1991:1100-1105.
[15] LEI Y, LI Y, SONG R, et al. Design and experimental validation of a master manipulator with position and posture decoupling for laparoscopic surgical robot[J]. The International Journal of Medical Robotics and Computer Assisted Surgery, 2022, 18(4):e2398

面向眼内手术的主操作器设计与零力控制方法研究

Design of a Master Manipulator for Intraocular Surgeries and Research on Zero-force Control Methods

PDF

可视化

摘要/Abstract

引用本文

使用本文

参考文献

相关文章 4

编辑推荐

Metrics

本文评价

[1]	张赫, 范志斌, 李海铭, 白明, 刘孟尧, 杨嘉辉, 赵杰. 玻璃体视网膜显微手术机器人研究进展及前沿热点[J]. 机械工程学报, 2023, 59(20): 451-469.
[2]	游有鹏;张宇;李成刚. 面向直接示教的机器人零力控制[J]. , 2014, 50(3): 10-17.
[3]	黄田;陈闯;王辉. 一种新型并联动力头动力学参数辨识方法研究[J]. , 2013, 49(19): 31-39.
[4]	肖晶晶;杨洋;李大寨;黄龙;张雷雨. 眼科显微手术机器人研究进展及关键技术分析[J]. , 2013, 49(1): 15-22.