Modelling the Dynamics of the Remote Centre Mechanism in Single-Port Minimally Invasive Robot

IF 2.1 3区医学 Q2 SURGERY

International Journal of Medical Robotics and Computer Assisted Surgery Pub Date : 2025-09-19 DOI:10.1002/rcs.70105

Bainan Liu, Dongsheng Li, Bo Pan, Yue Ai, Wenpeng Gao, Yili Fu

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引用次数: 0

Abstract

Background

The single-port surgical robot can reduce incision size and accelerate postoperative recovery. This paper analyses the dynamic model of the remote centre mechanism (RCM) of the proposed single-port robot for force control.

Methods

This paper proposes a dynamic model identification method for the RCM with a minimal parameter set derived from its tree structure. A nonlinear friction model for the prismatic joints and corresponding identification method are introduced, and the parameter set is iteratively refined using iterative reweighted least squares (IRLS), sequential quadratic programming (SQP) and an outlier detection algorithm. An adaptive Kalman filter (AKF) is applied to suppress noise in position differentiation, ensuring smooth velocity and acceleration.

Results

The proposed method improves fitting accuracy and provides low-deviation predictions for cross-validation trajectory data.

Conclusions

The proposed method enhances modelling accuracy and noise suppression in single-port surgical robots.

Clinical Trial Registration

The authors declare that this research is not a clinical trial and is not registered with any clinical trial registry

查看原文本刊更多论文

单端口微创机器人远程中心机构动力学建模。

背景：单端口手术机器人可以减小切口大小，加速术后恢复。本文分析了所提出的单端口机器人力控制远程中心机构的动力学模型。方法：提出了一种基于RCM树形结构的最小参数集的RCM动态模型识别方法。介绍了移动关节的非线性摩擦模型及其辨识方法，并利用迭代重加权最小二乘（IRLS）、顺序二次规划（SQP）和离群点检测算法对参数集进行了迭代细化。采用自适应卡尔曼滤波（AKF）抑制位置微分中的噪声，保证速度和加速度平稳。结果：提出的方法提高了拟合精度，为交叉验证轨迹数据提供了低偏差预测。结论：该方法提高了单孔手术机器人的建模精度和噪声抑制能力。临床试验注册：作者声明本研究不是临床试验，未在任何临床试验注册中心注册。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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来源期刊

International Journal of Medical Robotics and Computer Assisted Surgery 医学-外科

CiteScore

4.50

自引率

12.00%

发文量

131

审稿时长

6-12 weeks

期刊介绍： The International Journal of Medical Robotics and Computer Assisted Surgery provides a cross-disciplinary platform for presenting the latest developments in robotics and computer assisted technologies for medical applications. The journal publishes cutting-edge papers and expert reviews, complemented by commentaries, correspondence and conference highlights that stimulate discussion and exchange of ideas. Areas of interest include robotic surgery aids and systems, operative planning tools, medical imaging and visualisation, simulation and navigation, virtual reality, intuitive command and control systems, haptics and sensor technologies. In addition to research and surgical planning studies, the journal welcomes papers detailing clinical trials and applications of computer-assisted workflows and robotic systems in neurosurgery, urology, paediatric, orthopaedic, craniofacial, cardiovascular, thoraco-abdominal, musculoskeletal and visceral surgery. Articles providing critical analysis of clinical trials, assessment of the benefits and risks of the application of these technologies, commenting on ease of use, or addressing surgical education and training issues are also encouraged. The journal aims to foster a community that encompasses medical practitioners, researchers, and engineers and computer scientists developing robotic systems and computational tools in academic and commercial environments, with the intention of promoting and developing these exciting areas of medical technology.