主从同构穿刺手术机器人遥操作控制策略研究

摘要

文章在分析了穿刺机器人系统功能需求的基础上，搭建了主从遥操作系统的半实物仿真平台。基于等效微分变换的思想，提出雅克比矩阵(Jacobian Matrix)方法和比例微分(Proportional-Derivative，PD)控制律的联合控制方法。通过设计数字滤波器来消除外科医生的手部低频抖动对穿刺手术机器人精度的影响。实验结果表明从机器人末端执行器在笛卡尔空间坐标下能够精确快速安全地跟随主机器人末端执行器的位置变化，并且主机器人端的手部抖动能够被消除。%In this paper, a semi-physical simulation platform of the master-slave robot control simulation system was built based on the analysis on functional requirements of the PHANToM OMNI robot system. Based on differential transformation method, the real-time master-slave control was executed by using Jacobian matrix and proportional-derivative(PD) close-loop control algorithm, and the digital iflter was designed to eliminate effects of surgeons’ hand low-frequency tremors on the precision of the master-slave control. The simulation experimental results demonstrate that the slave robot can follow precisely and quickly movements of the master robot and eliminate hand tremors.