一种新型微创手术机器人笛卡尔空间主从实时控制策略

IF 1.5 4区医学 Q3 SURGERY

Computer Assisted Surgery Pub Date : 2016-10-28 DOI:10.1080/24699322.2016.1240316

Bo Pan, Xiaofeng Qu, Yue Ai, Yili Fu, Chang Liu

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引用次数: 7

摘要

机器人辅助系统可以提高手术的精度，在微创手术中得到了广泛的应用。提出了一种用于管理信息系统的新型手术机器人的主从实时控制策略。该机器人配备两个器械机械手和一个腹腔镜机械手。该控制策略解决了一致性原则下的运动学变换、术中重映射和实时震颤衰减问题。建立了从式仪表机械手的运动学模型，提出了笛卡尔空间中的主从控制方法。此外，还提出了术中重映射和实时震颤衰减算法作为辅助功能，以提高手术机器人的性能。通过实验验证了所提方法的正确性。最后，通过动物实验验证了本研究控制策略的正确性和有效性。

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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Master–slave real-time control strategy in Cartesian space for a novel surgical robot for minimally invasive surgery

Abstract Robot-assisted systems can enhance the precision of surgical procedures, and have been widely used in minimally invasive surgery (MIS). This paper proposes the master–slave real-time control strategy for a novel surgical robot for MIS. The robot is equipped with two instrument manipulators and one laparoscope manipulator. The control strategy solves problems of kinematics transformation on consistency principle, intra-operative re-mapping and tremor attenuation in real-time. The kinematics model of slave instrument manipulators is established, and the master–slave control method in Cartesian space is proposed. Intra-operative re-mapping and real-time tremor attenuation algorithms are also proposed as auxiliary functions to improve surgical robot’s performance. The proposed methods are verified by respective experiments. Finally, animal experiment is performed to verify the correctness and efficiency of the control strategy in this research.

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来源期刊

Computer Assisted Surgery Medicine-Surgery

CiteScore

2.30

自引率

0.00%

发文量

审稿时长

10 weeks

期刊介绍： omputer Assisted Surgery aims to improve patient care by advancing the utilization of computers during treatment; to evaluate the benefits and risks associated with the integration of advanced digital technologies into surgical practice; to disseminate clinical and basic research relevant to stereotactic surgery, minimal access surgery, endoscopy, and surgical robotics; to encourage interdisciplinary collaboration between engineers and physicians in developing new concepts and applications; to educate clinicians about the principles and techniques of computer assisted surgery and therapeutics; and to serve the international scientific community as a medium for the transfer of new information relating to theory, research, and practice in biomedical imaging and the surgical specialties. The scope of Computer Assisted Surgery encompasses all fields within surgery, as well as biomedical imaging and instrumentation, and digital technology employed as an adjunct to imaging in diagnosis, therapeutics, and surgery. Topics featured include frameless as well as conventional stereotactic procedures, surgery guided by intraoperative ultrasound or magnetic resonance imaging, image guided focused irradiation, robotic surgery, and any therapeutic interventions performed with the use of digital imaging technology.