|本期目录/Table of Contents|

[1]苏赫,孔康.微创手术机器人丝传动器械的夹持力补偿模型[J].天津大学学报(自然科学版),2018,(05):453-459.[doi:10.11784/tdxbz201706063]
 Su He,Kong Kang.Modeling of Clamping Force Compensation of Cable-Driven Instrument for Minimally Invasive Surgical Robot[J].Journal of Tianjin University,2018,(05):453-459.[doi:10.11784/tdxbz201706063]
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微创手术机器人丝传动器械的夹持力补偿模型()
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《天津大学学报(自然科学版)》[ISSN:0493-2137/CN:12-1127/N]

卷:
期数:
2018年05
页码:
453-459
栏目:
论文
出版日期:
2018-05-15

文章信息/Info

Title:
Modeling of Clamping Force Compensation of Cable-Driven Instrument for Minimally Invasive Surgical Robot
文章编号:
0493-2137(2018)05-0453-07
作者:
苏赫1 孔康2
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
Author(s):
Su He1 Kong Kang2
1.College of Computer and Control Engineering, Nankai University, Tianjin 300071, China
2.School of Mechanical Engineering, Tianjin University, Tianjin 300350, China
关键词:
微创手术机器人 手术器械 夹持力 力补偿
Keywords:
minimally invasive surgical robot surgical instrument clamping force force compensation
分类号:
TP242.3
DOI:
10.11784/tdxbz201706063
文献标志码:
A
摘要:
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:
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.

参考文献/References:

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相似文献/References:

[1]王树新,等.腹腔微创手术机器人远程控制平台开发及实验[J].天津大学学报(自然科学版),2015,(12):1041.[doi:10.11784/tdxbz201409075]
 Wang Shuxin,Liu Yuliang,et al. Development and Experiment of a Tele-Operated Platform for MinimallyInvasive Laparoscopic Surgery Based on MicroHand Robot[J].Journal of Tianjin University,2015,(05):1041.[doi:10.11784/tdxbz201409075]
[2]孔康,王树新,张淮锋,等.紧凑型微创手术机器人的设计与实现[J].天津大学学报(自然科学版),2017,(11):1131.[doi:10.11784/tdxbz201703017]
 Kong Kang,Wang Shuxin,Zhang Huaifeng,et al.Design and Implementation of a Compact Minimally Invasive Surgical Robot[J].Journal of Tianjin University,2017,(05):1131.[doi:10.11784/tdxbz201703017]

备注/Memo

备注/Memo:
收稿日期: 2017-06-26; 修回日期: 2017-09-21.
作者简介: 苏赫(1984—), 男, 博士, suhe@nankai.edu.cn.
通讯作者: 孔康, kongkang103@126.com.
基金项目: 国家自然科学基金资助项目(51475323); 国家国际科技合作项目(2014DFA70710).
Supported by the National Natural Science Foundation of China(No. 51475323)and the International S&T Cooperation Program of China(No. 2014DFA70710).
更新日期/Last Update: 2018-05-10