基于动力学模型的微创手术机器人自适应双边力控制研究

项目名称： 基于动力学模型的微创手术机器人自适应双边力控制研究

项目编号： No.51275335

项目类型： 面上项目

立项/批准年度： 2013

项目学科： 机械、仪表工业

项目作者： 李进华

作者单位： 天津大学

项目金额： 80万元

中文摘要： 力检测和力反馈在微创外科手术中起着极其重要的作用。目前国际上最先进的手术机器人da Vinci系统尚缺少力反馈。本课题针对现有机器人手术力反馈研究均从外部传感器着眼，且系统集成度低的科学瓶颈，以腹腔镜微创手术机器人控制模型为研究对象，基于系统动力学理论，建立包括电机和计及重力、摩擦力、交互作用力在内的机器人系统动力学模型,完善电机电枢电流和交互作用力间的映射模型，实现交互作用力的检测，优化基于神经网络的自适应双边力控制策略,探求新型力反馈控制方法。重点解决手术过程中未知环境的约束问题、系统稳定性及透明性问题以及自适应力控制策略等关键科学问题，建立微创外科手术机器人力反馈及控制新方法。课题研究成果将为微创外科机器人辅助手术中的力反馈相关基础研究提供理论指导。

中文关键词： 微创手术机器人；力检测；力反馈；自适应控制；双边控制

英文摘要： Force detecting and force feedback display significant influence on minimally invasive surgery operations. The state-of-the-art advanced invasive surgery robot, da Vinci, is still lack of force feedback module. The studies on force feedback for present robot surgery are focusing on external sensors and suffering from low system integration. Based on this consideration, this project focuses on the control model for minimally invasive surgery robot from view point of system dynamics theory. The dynamical model for motors and the system dynamical models for robot taking gravity, friction, and interaction force into account will be established. The mapping model involving motor armature current and the interaction force will be modified to achieve the detection of the interaction force. The adaptive bilateral force control strategy based on neural networks will be optimized and a novel control method for force feedback will be explored. In order to establish a new control strategy for minimally invasive surgery robot, the key problems of constraints in an unknown environment during surgery operations, system stability and transparency, as well as adaptive force control strategy will be comprehensively considered and resolved. The research result will give an insight into the related basic studies on force feedback f

英文关键词： Minimally invasive surgery robot；Force detecting；Force feedback；Adaptive control；Bilateral control