基于虚拟人机协作的咽拭子采样机器人远程控制策略  

Research on Remote Control Strategy of Swab Sampling Robot Based on Virtual Human-Robot Collaboration

作　　者：陈英龙 宋甫俊 弓永军[1] CHEN Yinglong;SONG Fujun;GONG Yongjun(Dalian Maritime University,Dalian 116026,China)

机构地区：[1]大连海事大学,辽宁大连116026

出　　处：《重庆理工大学学报（自然科学）》2021年第6期272-279,共8页Journal of Chongqing University of Technology：Natural Science

摘　　要：随着新冠肺炎的蔓延和持续,咽拭子采样作为核酸检测的重要环节,具有工作任务量大、易感染等特点。因此,医务人员采用医疗机器人取代人工现场取样,进行协作采样很有必要。然而,实际过程中传统的远程操作因为延迟很难保证闭环性能,同时也存在着力控性能弱的问题;同时机器人自动采样受传感器精度及患者的咽后壁位姿变化的影响,不能准确地规划和跟踪采样轨迹。为了解决上述问题,通过基于虚拟人机协作的控制策略引导和约束机器人,并根据阻抗控制对调整后的轨迹进行跟踪,确保合理的采样接触力。仿真结果表明:所提出的人机协作策略能够有效地利用医务人员和机器人的优势,解决实际采样中轨迹跟踪问题。With the spread and persistence of COVID-19,throat swab sampling,as an important link of nucleic acid detection,is characterized by large amount of workload and susceptibility to infection.Therefore,it is necessary for medical practitioners to adopt medical robots instead of manual sampling on the spot and to carry out collaborative sampling.However,the traditional remote operation is difficult to guarantee the closed-loop performance because of the delay in the actual process,and there is also the problem of weak control performance.In addition,due to the influence of the sensor precision and the posture of the patient’s pharynx,the robot can’t plan and track the sampling path accurately.In order to solve the above problems,the robot is guided and constrained by the control strategy based on virtual human-robot collaboration and the trajectory is tracked according to the impedance control.The simulation results show that the proposed human-computer collaborative strategy can effectively utilize the advantages of medical practitioners and robots to solve the problem of trajectory tracking in practical sampling.

关 键 词：人机协作 虚拟约束 轨迹修正 远程操作 

分 类 号：TH137[机械工程—机械制造及自动化]