基于旋量理论微创手术机器人逆解子问题求解  

Inverse sub-problem solving for minimally invasive surgical robot based on screw theory

作　　者：宋涛 潘博[1] 李国志 付宜利[1] SONG Tao;PAN Bo;LI Guozhi;FU Yili(State Key Laboratory of Robotics and System,Harbin Institute of Technology,Harbin 150001,China)

机构地区：[1]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150001

出　　处：《华中科技大学学报（自然科学版）》2023年第2期89-94,共6页Journal of Huazhong University of Science and Technology(Natural Science Edition)

基　　金：国家自然科学基金资助项目(92048202);江苏省科技项目(BE2019038)。

摘　　要：针对微创手术机器人手术器械的三个轴线不交汇于一点的问题,提出了一种新的移动-旋转-旋转(PRR)类型的Paden-Kahan子问题求解手术器械的关节逆解.采用旋量理论和消元理论求解主动关节的逆解,该PRR子问题描述为一个点绕空间垂直的两个轴线旋转,再沿直线方向移动至指定位置.子问题中三个关节轴线空间垂直,本研究给出了该子问题逆运动学的求解方法.以主动关节轴线汇交于一点、手术器械关节轴线空间垂直的华鹊III微创手术机器人为实验平台,通过任意给定运动量的实例计算,验证了该子问题的运动学逆解方法的有效性,满足高精度的主从控制要求.A new prismatic-revolute-revolute(PRR) type of Paden-Kahan sub-problem was proposed to solve the joint inverse solution of surgical instrument when the three axes of minimally invasive surgical robotic instrument did not intersect at one point.The inverse solution of the active joint was solved by using the screw theory and elimination theory,and the new sub-problem was described as a point rotates about two vertical axes in space and then moved in a straight direction to the specified position. The three joint axes in the sub-problem are perpendicular in space,and the solving method of the inverse kinematics for the sub-problem was presented in this paper. Based on the Huaque III minimally invasive surgical robot,whose active joint axes intersect at one point and the joint axes of surgical instrument are perpendicular to each other in space,the validity of the inverse kinematics method for the new sub-problem was verified by an example calculation of arbitrarily given motion variables.The experiment result meets the requirements of high precision master-slave control.

关 键 词：微创手术机器人 旋量理论 逆运动学 Paden-Kahan子问题 消元理论 

分 类 号：TP242.3[自动化与计算机技术—检测技术与自动化装置]