[1]王泽华,胡陟,陆玮铭,等.基于模糊变导纳的颅颌面手术机器人接触力控制[J].中国医学物理学杂志,2022,39(12):1544-1549.[doi:DOI:10.3969/j.issn.1005-202X.2022.12.014]
　WANG Zehua,HU Zhi,LU Weiming,et al.Controlling contact force in robot-assisted cranio-maxillofacial surgery using fuzzy variable admittance[J].Chinese Journal of Medical Physics,2022,39(12):1544-1549.[doi:DOI:10.3969/j.issn.1005-202X.2022.12.014]
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基于模糊变导纳的颅颌面手术机器人接触力控制()
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《中国医学物理学杂志》[ISSN:1005-202X/CN:44-1351/R]

卷:
39卷
期数:
2022年第12期
页码:
1544-1549
栏目:
生物材料与力学
出版日期:
2022-12-25

文章信息/Info

Title:
Controlling contact force in robot-assisted cranio-maxillofacial surgery using fuzzy variable admittance
文章编号:
1005-202X（2022）12-1544-06
作者:
王泽华; 胡陟; 陆玮铭; 倪双涛
上海工程技术大学电子电气工程学院， 上海 201620
Author(s):
WANG Zehua;  HU Zhi;  LU Weiming;  NI Shuangtao
School of Electronic and Electrical Engineering, Shanghai University of Engineering Science, Shanghai 201620, China
关键词:
手术机器人; 导纳控制; 模糊控制; 接触力控制
Keywords:
Keywords: surgical robot admittance control fuzzy control contact force control
分类号:
R318；TP242
DOI:
DOI:10.3969/j.issn.1005-202X.2022.12.014
文献标志码:
A
摘要:
针对机器人辅助颅颌面外科手术过程中环境参数不固定带来的力控效果差问题，在导纳控制的基础上，提出一种基于模糊变导纳的机器人力控制方法。通过在UR5机器人末端安装力传感器实现接触力的检测并设定合适的期望力，然后根据环境参数变化自动地调整导纳控制模型并跟踪期望力，最后对提出的控制方法进行接触力跟踪以及位置误差仿真分析，并对机器人辅助拉开仿真颌面部组织这一手术过程进行力控制实验验证该控制方法的有效性。结果表明，在动态时变的外科手术环境中，模糊变导纳控制方法可以达到理想的力控制效果，接触力峰值降低10.77%，系统震荡次数减少50%，稳定调节时间缩短18.75%，一定程度上可以避免由于接触力过大对人造成的伤害，满足手术的安全性要求。
Abstract:
Abstract: A robot force control method based on fuzzy variable admittance is proposed for solving the problem of poor force control caused by unstable environmental parameters during robot-assisted cranio-maxillofacial surgery. The detection of the contact force is realized by a force sensor installed at the end of UR5 robot, and the appropriate expected force is set. According to the changes in environmental parameters, the admittance control model is automatically adjusted and the expected force is tracked. Finally, contact force tracking and position error simulation analysis are carried out, and force control experiments is conducted to verify the effectiveness of the control method during the operation process of robot-assisted pulling apart the simulated maxillofacial tissues. The results show that in a dynamic time-varying surgical environment, the fuzzy variable admittance control method can achieve the ideal force control, reducing peak contact force by 10.77%, reducing the number of system oscillations by 50%, and shortening the stable adjustment time by 18.75%. To some extent, the proposed method can avoid the injury caused by excessive contact force and meet the safety requirements of surgery.

相似文献/References:

[1]李国琪,胡陟,陈籽聿,等.基于干扰观测器的双臂手术机器人自适应阻抗控制[J].中国医学物理学杂志,2023,40(6):714.[doi:DOI:10.3969/j.issn.1005-202X.2023.06.008]
　LI Guoqi,HU Zhi,CHEN Ziyu,et al.Adaptive impedance control of dual-arm surgical robot based on disturbance observer[J].Chinese Journal of Medical Physics,2023,40(12):714.[doi:DOI:10.3969/j.issn.1005-202X.2023.06.008]
[2]冯逾鹏,张杰,杨兴海.基于主动光源阵列的骨科机器人末端示踪装置[J].中国医学物理学杂志,2024,41(2):220.[doi:DOI:10.3969/j.issn.1005-202X.2024.02.015]
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备注/Memo

备注/Memo:
【收稿日期】2022-05-10 【基金项目】国家重点研发计划（2019YFC0119303） 【作者简介】王泽华，硕士，研究方向：机器人技术，E-mail: wang791648- 024@126.com
更新日期/Last Update: 2022-12-23