中国科学院沈阳自动化研究所机构知识库
Advanced  
SIA OpenIR  > 机器人学研究室  > 期刊论文
题名:
脊柱微创主从式手术机器人阻抗控制系统研制
其他题名: Design of Master-Slave Operation Robot Based on Impedance Control in Minimally Invasive Spinal Surgery
作者: 路明; 赵忆文; 姜运祥
作者部门: 机器人学研究室
通讯作者: 路明
关键词: 脊柱微创手术 ; 力反馈 ; 阻抗控制 ; 主从式手术机器人
刊名: 机器人
ISSN号: 1002-0446
出版日期: 2017
卷号: 39, 期号:3, 页码:371-376
收录类别: EI
产权排序: 1
项目资助者: 国家自然科学基金(61333019)
摘要: 针对面向脊柱微创手术的机器人系统,提出了适用于双系统的阻抗控制策略,开展了相关的理论分析和实验验证研究.首先通过运动学计算得出末端执行器到关节角的关系,然后通过阻抗关系模型推导得出力与位置之间的转化公式,最后通过位置控制计算每个关节角的实际位置.本文解决了力和位置控制难以协调这一关键问题,提高了脊柱微创手术机器人力和位置控制的精确性,保证了主手和从手之间位置和力的一致性,使得从手的状态在主手得以精准复现.在手术层面上,系统将医生从长期的繁重操作中解救出来,提升了脊柱微创手术的操作精度和最终效果.
英文摘要: Aiming at the robot systems for minimally invasive spine surgery (MTSS), an impedance control strategy suitable for double systems is put forward, and related analysis and experimental research are carried out. Firstly, the relationship between the end-effector and the joint angle is obtained through kinematics calculation. Then, conversion formula between the force and the position is deduced based on the impedance relationship model. Finally, the actual angle of each joint is calculated through position control. This paper solves the coordination control problems of force and position, improves the accuracy of force and position control in MTSS robots, ensures the position and force consistency between the master and slave robots, and makes the master robot reproduce states of the slave robot accurately. At the operation level, the proposed system can save the doctor from long-term heavy operation and improve the operation accuracy and final effect of MTSS.
语种: 中文
EI收录号: 20172803928445
内容类型: 期刊论文
URI标识: http://ir.sia.cn/handle/173321/20778
Appears in Collections:机器人学研究室_期刊论文

Files in This Item: Download All
File Name/ File Size Content Type Version Access License
脊柱微创主从式手术机器人阻抗控制系统研制.pdf(1424KB)期刊论文作者接受稿开放获取View Download

Recommended Citation:
路明,赵忆文,姜运祥. 脊柱微创主从式手术机器人阻抗控制系统研制[J]. 机器人,2017,39(3):371-376.
Service
Recommend this item
Sava as my favorate item
Show this item's statistics
Export Endnote File
Google Scholar
Similar articles in Google Scholar
[路明]'s Articles
[赵忆文]'s Articles
[姜运祥]'s Articles
CSDL cross search
Similar articles in CSDL Cross Search
[路明]‘s Articles
[赵忆文]‘s Articles
[姜运祥]‘s Articles
Related Copyright Policies
Null
Social Bookmarking
Add to CiteULike Add to Connotea Add to Del.icio.us Add to Digg Add to Reddit
文件名: 脊柱微创主从式手术机器人阻抗控制系统研制.pdf
格式: Adobe PDF
所有评论 (0)
暂无评论
 
评注功能仅针对注册用户开放,请您登录
您对该条目有什么异议,请填写以下表单,管理员会尽快联系您。
内 容:
Email:  *
单位:
验证码:   刷新
您在IR的使用过程中有什么好的想法或者建议可以反馈给我们。
标 题:
 *
内 容:
Email:  *
验证码:   刷新

Items in IR are protected by copyright, with all rights reserved, unless otherwise indicated.

 

 

Valid XHTML 1.0!
Copyright © 2007-2017  中国科学院沈阳自动化研究所 - Feedback
Powered by CSpace