遥操作骨科复位手术网络时延控制研究  

Research on controlling network time delay in teleoperation orthopedic restoration surgery

作　　者：王宏民[1,2] 杜志江[2] 闫志远[2] 刘荣强[2] 

机构地区：[1]黑龙江科技大学电气学院,黑龙江哈尔滨150022 [2]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

出　　处：《哈尔滨工程大学学报》2016年第6期860-866,共7页Journal of Harbin Engineering University

基　　金：国家高技术研究发展计划(SS2012AA041604);国家重点实验室开放课题(SKLRS-2013-MS-08)

摘　　要：针对遥操作骨科手术过程中存在网络时延的问题,提出了基于H∞和μ综合的鲁棒控制器设计方法。通过测试UDP、TCP/IP协议下网络的时延值,采用了UDP协议进行数据的传输的方法。针对遥操作手术机器人动力学模型与实际模型之间存在差异的问题,引入扰动观测器和低通滤波器将机器人动力学模型进行了修正。运用H∞混合灵敏度鲁棒控制方法设计了主从端控制器。针对时延最大值2 s的情况,采用μ综合的方法加以处理。通过Internet完成了无约束状态下位置跟踪和受限状态下力跟踪实验。实验结果表明,所设计的控制器能够在时延发生且最大值不超过2 s的情况下保证主从系统较好的稳定性,验证了遥操作骨科复位手术在Internet环境下的可行性。To address the problem of time delay in the teleoperation orthopedic surgery process, in this paper we propose a robustness control design method based on the H∞ and μ?synthesis methods. Firstly, from an analysis of delay?time data tested under the UDP and TCP/IP protocols, we selected the UDP protocol to transport data. Then, to address the difference between the dynamic and real models of the teleoperation robot, we used a disturbance ob?server and low?pass filter to modify the robot′s dynamic model. Then, using a method based on the H∞ mixed?sensi?tivity robustness control theory, we designed master slave controllers. For conditions in which the time delay was no more than 2 seconds, theμ?synthesis method was used for processing. Finally, on the Internet, we conducted a po?sition?tracking experiment for an unconstrained situation and a force?tracking experiment for a constrained situation. Experimental results show that using the designed controller guarantees a more stable master?slave system when a time delay occurs with a maximum value of no more than 2 seconds. These results verify the feasibility of teleopera?tion orthopedic restoration surgery on the Internet environment.

关 键 词：遥操作手术 网络延时 远程医疗 鲁棒控制 动力学模型 扰动观测器 低通滤波器 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]