基于等效阻力矩补偿的微创手术机器人反向驱动控制方法

项目名称： 基于等效阻力矩补偿的微创手术机器人反向驱动控制方法

项目编号： No.61305139

项目类型： 青年科学基金项目

立项/批准年度： 2014

项目学科： 自动化技术、计算机技术

项目作者： 潘博

作者单位： 哈尔滨工业大学

项目金额： 25万元

中文摘要： 微创手术机器人技术推动了微创外科手术向更精确、更灵活方向的发展。在机器人微创手术术前设置过程中，由于受到机械臂重力、惯性力及摩擦力的抵制作用，医生很难对手术器械进行精细的调整，甚至会出现器械对组织结构造成损伤的情况，增加了机器人手术的不确定性，延长了微创手术的术前设置时间。因此，亟需探索可实现精确操作的微创手术机器人反向驱动实现方法。在深入开展微创手术机器人等效阻力矩建模、参数辨识及关节状态参数重构方法基础上，提出一种基于等效阻力矩补偿的反向驱动控制方法，通过结合微创手术机器人，开展反向驱动控制方法实验与评价研究，为医生在术前设置过程中提供有效的技术支持，进而提高机器人微创手术的安全性和效率。本项目研究成果对提高我国微创手术机器人技术自主创新能力，推进我国高端医疗器械的技术研究和产业化发展具有重要意义。

中文关键词： 机器人；微创手术；反向驱动；动力学；摩擦力

英文摘要： Robot assisted minimally invasive surgery leads MIS techniques to a more precise and dexterous direction. While during the preoperative settings of the robot, the resistance effects caused by robot gravity, inertial force and friction made it so hard for surgeons to adjust surgical instruments precisely that even the instruments may damage the patients' tissues. This situation adds the uncertainty to operations, and extend the time for preoperative settings. Therefore, investigation and realization of the robot's backdrivability for robot assisted minimally invasive surgery are of great urgency. After the work of modeling the equivalent resistance toque , identifying the dynamic parameters and reconfiguring joint status parameters for the robot, this project proposes a control method for the robot's backdrivability. Through incorporating the minimally invasive surgical robot and that method, the study of demonstrative experiments and performance evaluation of the control method can effectively support surgeons during the preoperative settings. Thus the security and efficiency of the robot assisted minimally invasive surgery can be enhanced. Fruits of this project are of great significance to improving the ability of independent innovation of minimally invasive surgical robot in our country, and to the developmen

英文关键词： Robot；Minimally invasive surgery；Backdrivability；Dynamics；Friction