骨科手术机器人的协同控制方法  

Collaborative Control Method for Cranio-maxillofacial Surgical Robot System

作　　者：王内[1] 栾楠[1] 张诗雷[2] 桂海军[2] 吴锦阳[2] 

机构地区：[1]上海交通大学机械与动力工程学院,上海200240 [2]上海交通大学医学院附属第九人民医院,上海200011

出　　处：《机电一体化》2013年第1期48-52,共5页Mechatronics

基　　金：上海交通大学医工交叉基金(YG2011MS06);上海交通大学医学院博士创新基金(BXJ201229)

摘　　要：基于力反馈设备,通过引入虚拟约束和力反馈,介绍了能满足颅颌面整复手术需求的人机协同操作控制策略。在机器人可达工作空间内,基于模糊控制算法实现了反馈力的规划。通过对手术操作进行合理的过程规划,在模拟手术实验中实现了所提出的骨科手术机器人的人机协同操作控制策略。最后,设计了一组对比试验,验证了这种协同控制策略有效性和合理性。This paper proposes a collaborative control method of a 7-DOF navigated robot designed for cranio- maxillofaeial surgery. This method is based on virtual fixtures, force feedback and also tele-operation. Working inside the safe working space of the robot, the virtual feedback force is assigned through the fuzzy control algorithm and transformed to the tele-operation side through network. Meanwhile, we also proposed a reasonable process planning method to optimally realize the collaborative control method. Performance of our method was validated by designed experiments.

关 键 词：颅颌面手术机器人 协同控制 虚拟约束 力反馈 模糊控制 过程规划 

分 类 号：R687[医药卫生—骨科学] TP242[医药卫生—外科学]