腹腔微创手术机器人主从控制技术与实验  

Mater-slave Control Technology for Abdominal Minimally Invasive Surgery Robot and Its Experiments

作　　者：潘博[1,2] 付宜利[1] 冯美[1] 王树国[1] 徐殿国[2] 

机构地区：[1]哈尔滨工业大学机器人技术与系统国家重点实验室,黑龙江哈尔滨150080 [2]哈尔滨工业大学电气工程及自动化学院,黑龙江哈尔滨150001

出　　处：《机器人》2012年第6期646-651,679,共7页Robot

基　　金：国家863计划资助项目(SS2012AA041601);中央高校基本科研业务费资助项目(HIT.NSRIF.2013052);中国博士后科学基金资助项目(2011M500654)

摘　　要：针对机器人微创手术的任务特点,在分析主从控制功能需求的基础上,采用工控机结合运动控制卡的控制体系构建机器人主从控制系统硬件平台.研究基于微分变换的主从操作实时控制算法,设计主从控制的辅助功能.在机器人系统集成基础上开展主从控制实验、生物组织实验及动物试验研究.实验表明所研制的机器人具有较好的主从控制性能,能够满足微创外科手术的实际需求.According to task features of RMIS （robot-assisted minimally invasive surgery）, based on the functional require- ment analyses of master-slave control, a hardware platform of robot master-slave control system is constructed by adopting control architecture of industrial computer and motion control card. A real-time control algorithm of master-slave operation is investigated based on differential transformation method, and then the auxiliary function of master-slave control is designed. Master-slave control experiment, experiment on biological tissue and animal experiment are carried out after robot system integration. Experiments demonstrate that the system has good master-slave control performance, which satisfies the actual demand of minimally invasive surgery.

关 键 词：微创手术 机器人构型 主从操作 动物试验 

分 类 号：TP241[自动化与计算机技术—检测技术与自动化装置]