关键词: 轨迹规划, 人手抖动, 外科机器人, 样条插值, 遥操作

Abstract: As a result of isomery between master and slave, teleoperated surgical robot must process enormous calculation. Based on linearize ideology, a novel algorithm which can satisfy the surgical operation that requires quick response, high precise and safety is presented. At first, the velocity in cartesian frame is mapped to the velocity in joint frame through the inverse Jacobian matrix, and then makes the instant velocity instead of the distance of the joint. Therefore the calculation is simplified to satisfy the realtime requirement of surgery. As a feedback signal, error between master and slave is applied to eliminate error generated by approximate linear kinematics. Cubic interaction in joint space is used to eliminate surgeon’s tremor and control the robot safely and smoothly. Based on the algorithm, MicroHand system accomplishes the vas suturing experiment for a rabbit’s leg micro artery.

Key words: Cubic interaction, Hand tremor, Surgical robot, Teleoperation, Trajectory plan