便携式手术机器人主手附加力位移补偿方法研究

doi:10.3901/JME.2018.17.062

机械工程学报 ›› 2018, Vol. 54 ›› Issue (17): 62-68.doi: 10.3901/JME.2018.17.062

• 特邀专栏：精准微创手术器械创成与制造基础 • 上一篇下一篇

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便携式手术机器人主手附加力位移补偿方法研究

凌颢¹, 王国慧¹, 李政¹, 李建民², 易波¹, 孔康², 王树新², 朱晒红¹

1. 中南大学湘雅三医院长沙 410013;
2. 天津大学机构理论与装备设计教育部重点实验室天津 300350

收稿日期:2018-01-09 修回日期:2018-05-30 出版日期:2018-09-05 发布日期:2018-09-05
通讯作者: 朱晒红(通信作者),男,1964年出生,博士,教授,博士研究生导师。主要研究方向为手术机器人界面、映射关系与能量平台、生物安全性。E-mail:shzhu@mail.cus.edu.cn
作者简介:凌颢,女,1988年出生,博士研究生。主要研究方向为国产手术机器人。E-mail:jolene_ling@163.com
基金资助:
国家重点研发计划（2017YTC0110402）、国家自然科学基金（51290295）和湖南省自然科学基金（2017JJ3388）资助项目。

Compensation Method of Main Force Additional Force of Portable Surgical

LING Hao¹, WANG Guohui¹, LI Zheng¹, LI Jianming², YI Bo¹, KONG Kang², WANG Shuxin², ZHU Shaihong¹

1. The Third Xiangya Hospitalof Central South University, Hunan 410013;
2. Key Laboratory of Mechanism Theory and Equipment Design of the Ministry of Education, Tianjin University, Tianjin 300350

Received:2018-01-09 Revised:2018-05-30 Online:2018-09-05 Published:2018-09-05

摘要/Abstract

摘要： 采用拉格朗日方程和Stribeck摩擦模型，根据便携式手术机器人主手的杆件重力、各关节摩擦力、惯性力对术者真实力感知的影响，建立了含关节摩擦力的动力学模型。基于机器人主手动力学模型，分别建立重力、摩擦力和惯性力三项的补偿模型，通过分析机器人主手力补偿反馈和附加位移的产生原因及补偿原理，提出了相应的补偿反馈力和附加位移补偿方法。通过对初步研究结果进行对比试验，验证该力补偿控制方法可用以平衡主手因自身所带的重力、关节摩擦力和惯性力产生的影响，最终实现术者真实的力感知，提高手术操作精准性。

关键词: 便携式手术机器人, 附加力补偿, 附加位移补偿

Abstract: Based on the Lagrange equation and the Stribeck friction model, a complete dynamic model with joint friction is established according to the influence of the gravity of the rod, the joint friction force and the inertia force of the master manipulator on the perception of the true strength of the manipulator. The robot master manipulator dynamics model based on compensation model is established by gravity, friction and inertia force three, analysis of the robot master manipulator compensation feedback force and displacement of the cause and compensation principle, put forward the corresponding compensation feedback force and displacement compensation method. By comparing the clinical results of the preliminary study, it is verified that the force compensation control method can balance the gravity, joint friction and inertia force of the main hand, and ultimately realize the real force perception of the surgeon and improve the accuracy of the operation.

Key words: additional displacement compensation, additional force compensation, portable surgical robot

中图分类号:

TP242

凌颢, 王国慧, 李政, 李建民, 易波, 孔康, 王树新, 朱晒红. 便携式手术机器人主手附加力位移补偿方法研究[J]. 机械工程学报, 2018, 54(17): 62-68.

LING Hao, WANG Guohui, LI Zheng, LI Jianming, YI Bo, KONG Kang, WANG Shuxin, ZHU Shaihong. Compensation Method of Main Force Additional Force of Portable Surgical[J]. Journal of Mechanical Engineering, 2018, 54(17): 62-68.

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便携式手术机器人主手附加力位移补偿方法研究

Compensation Method of Main Force Additional Force of Portable Surgical

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