主从式手术机器人主手消抖方法  

Tremor Reduction of the Master Arm for Master-Slave Surgical Robot

作　　者：姜紫阳 代煜[1] 张建勋[1] 孙会娇 JIANG Ziyang;DAI Yu;ZHANG Jianxun;SUN Huijiao(Institute of Robotics & Automatic Information System,Nankai University,Tianjin 300350,China)

机构地区：[1]南开大学机器人与信息自动化研究所

出　　处：《机器人》2019年第3期327-333,共7页Robot

基　　金：国家重点研发计划(2017YFC0110402);国家自然科学基金(61773223)

摘　　要：针对实际操作中主手机械臂引入的抖动噪声,首先使用高精度加速度计对不同人不同时段的抖动信号进行采集并分析其特点,继而再根据抖动信号的先验信息设计改进型自适应带限多线性傅里叶拟合器(BMFLC).该方法使用覆盖抖动信号频率段的具有特定间隔的基频信号通过最小均方(LMS)算法拟合抖动信号,用以补偿手术操作中抖动信号的影响.针对抖动信号中幅值较高的频段,提出拟合器频带的稠密划分方法.实验结果表明,改进型BMFLC算法的补偿效果比标准型提高约10%.For the vibrating movement of the master arm in practical operation, a high-precision accelerometer is used to collect the tremor signals of different people at several different times in a day, and the signal characteristics are analyzed.Then, an improved band-limited multiple Fourier linear combiner is designed according to the prior information of tremor.The combiner uses the least mean square algorithm to fit the tremor, which is based on a baseband signal with a specific interval covering the frequency band of the tremor signal. Such a combiner can compensate the effects of tremor during surgical operations. For frequency bands with higher amplitude in the tremor signal, a dense division method for the frequency band in the combiner is proposed. The experimental results show that the compensation effect of the improved band-limited multiple Fourier linear combiner is about 10% higher than that of the standard model.

关 键 词：主从手术机器人 生理抖动 信号拟合 自适应滤波 

分 类 号：T242.3[一般工业技术]