苏赫¹, 孔康²
AuthorsHTML:苏赫¹, 孔康²
AuthorsListE:Su He¹, Kong Kang²
AuthorsHTMLE:Su He¹, Kong Kang²
Unit:1. 南开大学计算机与控制工程学院，天津 300071; 2. 天津大学机械工程学院，天津 300350
Unit_EngLish:1．College of Computer and Control Engineering, Nankai University, Tianjin 300071, China
2．School of Mechanical Engineering, Tianjin University, Tianjin 300350, China
Abstract_Chinese:稳定有效的手术器械夹持力输出是保证机器人辅助微创手术顺利完成的基本条件．为实现手术器械夹持力的稳定输出, 有效提高微创手术(MIS)机器人手术操作质量, 提出了一种基于夹持力预测的力补偿模型．在此基础上计算了器械不同姿态下的开合关节驱动力矩的补偿量, 利用该方法所构建的夹持力补偿模型可应用于对丝传动手术器械夹持力的输出控制中．该建模方法的优点是只需要用到姿态信息与夹持力信息两种数据, 而无需考虑器械传动中间环节中的各种复杂因素对夹持力的影响．最后, 通过基于样机系统的实验研究验证了所提出的微创手术机器人丝传动器械夹持力补偿建模方法的可行性．
Abstract_English:A stable and effective clamping force output of instrument is the basic condition to ensure the smooth robot-assisted minimally invasive surgery. To achieve the stable clamping force output of surgical instrument and improve the operation quality of minimally invasive surgical(MIS) robot，a modeling method for clamping force compensation based on force prediction was developed. The compensation quantity of clamp joint torque for surgical instruments in different attitudes was calculated based on the modeling method，and the clamping force compensation model was applied to the output control of cable-driven surgical instruments of MIS robot. This modeling method has the virtue of only requiring two kinds of data: attitude information and clamping force information，without considering the influence of various complex factors on clamping force in the intermediate links of device transmission. Finally，the feasibility of the proposed method was verified through experimental research based on a prototype system.
Keyword_Chinese:微创手术机器人; 手术器械; 夹持力; 力补偿
Keywords_English:minimally invasive surgical robot; surgical instrument; clamping force; force compensation

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