基于多点力约束的视网膜手术机器人的导纳控制

doi:10.3901/JME.2021.09.012

机械工程学报 ›› 2021, Vol. 57 ›› Issue (9): 12-18.doi: 10.3901/JME.2021.09.012

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基于多点力约束的视网膜手术机器人的导纳控制

贺昌岩, 杨洋

北京航空航天大学机械工程及自动化学院北京 100191

收稿日期:2020-04-28 修回日期:2020-07-16 出版日期:2021-05-05 发布日期:2021-06-15
通讯作者: 杨洋(通信作者)，男，1962年出生，博士，教授，博士研究生导师。主要研究方向为智能机械设计、医疗机器人、多指灵巧手。E-mail：yang_mech@buaa.edu.cn
作者简介:贺昌岩，男，1993年出生，博士研究生。主要研究方向为医疗机器人。E-mail：changyanhe@buaa.edu.cn
基金资助:
国家自然科学基金（51875011）和国家重点研发计划（2017YFB1302702）资助项目。

Multipoint Force-constrained Admittance Control for Retinal Surgical Robot

HE Changyan, YANG Yang

School of Mechanical Engineering and Automation, Beihang University, Beijing 100191

Received:2020-04-28 Revised:2020-07-16 Online:2021-05-05 Published:2021-06-15

摘要/Abstract

摘要： 在视网膜血管注药手术中，手术器械与眼球巩膜刺入孔和视网膜目标血管处产生接触。为保证手术过程中这两处组织的受力在安全阈值内，提出了一种基于多点接触力的机器人约束控制算法。以手术器械轴部与眼球巩膜的接触力（巩膜力）和器械尖端与视网膜血管的接触力（尖端力）为输入，设计了机器人的导纳控制器。导纳控制器输出机器人坐标系下器械尖端处及巩膜接触位置的速度。这两处的运动速度在转换到同一坐标系下后对机器人进行运动约束。在通过导纳算法控制机器人的速度时，提出了一种非线性速度轨迹规划方法，实现速度的平滑变化。所提出的约束控制算法在硅胶眼球模型上进行了模拟视网膜注药试验，试验结果显示在外部扰动存在的情况下，巩膜力和尖端力均被保持在给定阈值之内，表明了所提出的多点力约束机器人控制算法对提高手术安全方面的有效性。

关键词: 导纳控制, 运动约束, 机器人辅助视网膜手术, 微力感知控制

Abstract: In retinal vein cannulation surgery, the surgical instrument needs to collide with the eyeball sclera incision and the target retinal vessel. In order to keep the tool-tissue forces at these two spots being within safety thresholds during the surgery, a robotic constrained control algorithm based on multipoint contact force is proposed. A robotic admittance controller was designed with the inputs of the contact forces between the surgical instrument shaft and the eyeball sclera (scleral force), and between the instrument tip and the retinal vessels (tip force). The admittance controller outputs the velocities of the instrument at the tip and at the sclera port in the robot coordinate system. The velocities of these two places are used to restrict the movement of the robot after being transformed into the same coordinate system. In the calculation of the velocities, a non-linear velocity trajectory planning method is proposed to achieve smooth changes of the velocity. The proposed constrained control algorithm was performed on a silicone eyeball model to simulate retinal injection experiments. The experimental results showed that in the presence of external disturbances, both the scleral force and the tip force are kept within given thresholds, which verified the effectiveness of multipoint force-constrained robot control algorithms in improving surgery safety.

Key words: admittance control, motion constraint, robot-assisted retinal surgery, micro-force sensing and control

中图分类号:

TG156

贺昌岩, 杨洋. 基于多点力约束的视网膜手术机器人的导纳控制[J]. 机械工程学报, 2021, 57(9): 12-18.

HE Changyan, YANG Yang. Multipoint Force-constrained Admittance Control for Retinal Surgical Robot[J]. Journal of Mechanical Engineering, 2021, 57(9): 12-18.

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基于多点力约束的视网膜手术机器人的导纳控制

Multipoint Force-constrained Admittance Control for Retinal Surgical Robot

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