可运动解耦的连续体单孔手术机器人设计与控制  

Design and Control of a Motion Decoupling Continuum Robot for Single Port Surgery

作　　者：周圆圆[1,2,3] 王振兴 王重阳 黎定佳 张诚[1] 郭伟 张忠涛[5] 刘浩[1,2,3] ZHOU Yuanyuan;WANG Zhenxing;WANG Chongyang;LI Dingjia;ZHANG Cheng;GUO Wei;ZHANG Zhongtao;LIU Hao(State Key Laboratory of Robotics,Shenyang Institute of Automation,Chinese Academy of Sciences,Shenyang 110016,China;Institutes for Robotics and Intelligent Manufacturing,Chinese Academy of Sciences,Shenyang 110169,China;Liaoning Province Key Laboratory of Minimally Invasive Surgical Robot,Shenyang 110016,China;University of Chinese Academy of Sciences,Beijing 100049,China;Beijing Friendship Hospital,Capital Medical University,Beijing 100050,China)

机构地区：[1]中国科学院沈阳自动化研究所机器人学国家重点实验室,辽宁沈阳110016 [2]中国科学院机器人与智能制造创新研究院,辽宁沈阳110169 [3]辽宁省微创手术机器人重点实验室,辽宁沈阳110016 [4]中国科学院大学,北京100049 [5]首都医科大学附属北京友谊医院,北京100050

出　　处：《机器人》2021年第4期424-432,共9页Robot

基　　金：国家自然科学基金(61873257);深圳市人工智能与机器人研究院开放项目(AC01202005005);“兴辽英才计划”青年拔尖人才项目(39XLYC1807078)。

摘　　要：提出一种可拓扑解耦的连续体单孔手术机器人,通过设计中间联动连续体段可以实现多段驱动间的解耦,并且机器人的末端姿态仅取决于远端形变段,实现了位姿分离.基于该运动解耦构形,设计了一种基于空间十字交叉曲面盘的连续体骨架结构来实现具有6自由度的多段连续体机器人,建立了机器人的正运动学,并给出了逆运动学的直接求解法.最后进行了机器人驱动解耦与轨迹跟踪控制实验,经过测试,机器人解耦运动的平均角度误差为2.39°,在20 mm/s的速度及无负载条件下轨迹跟踪误差为1.46 mm.实验表明机器人具有较好的驱动空间解耦能力,并能够基于逆运动学直接求解法实现机器人稳定的运动控制.A topologically decoupled continuum robot is proposed for single port surgery, which realizes the decoupling between multi-segment actuation by designing an intermediate associated continuum segment. Meanwhile, the orientation of the end-effector only depends on the distal end segment, achieving the decoupling of position and orientation. Based on this motion decoupling configuration, the multi-segment continuum robot with six degrees of freedom is realized by designing a spatial cross-curved disk skeleton. The forward kinematics of the robot and the direct solution of inverse kinematics are then given. Finally, the experiments of actuation decoupling and trajectory tracking control are conducted. In tests, the average angular error of the robot decoupling motion is 2.39°, and the tracking error at a speed of 20 mm/s without load is 1.46 mm.The experiment results show that the robot has good ability of actuation decoupling, and can realize motion control with stability based on the direct solution of inverse kinematics.

关 键 词：连续体机器人 单孔手术 运动解耦 稳定控制 

分 类 号：TP242.3[自动化与计算机技术—检测技术与自动化装置]