智能双臂无影灯系统的协同运动控制  

Cooperative control of intelligent dual-arm shadowless lamp system

作　　者：雷上钧 张秋菊 LEI Shangjun;ZHANG Qiuju(School of Mechanical Engineering,Jiangnan University,Wuxi 214222,China;Jiangsu Key Laboratory of Advanced Food Manu‐facturing Equipment and Technology,Wuxi 214222,China)

机构地区：[1]江南大学机械工程学院,江苏无锡214222 [2]江苏省食品先进制造装备与技术重点实验室,江苏无锡214222

出　　处：《中国医学物理学杂志》2024年第5期600-609,共10页Chinese Journal of Medical Physics

摘　　要：在当前手术照明系统中,手动调节光照位置以消除遮挡物阴影的操作会导致外科医生的注意力分散,且存在污染手术区域无菌环境的可能性,为解决这一问题,提出了一种智能双臂无影灯系统解决方案。采用串联型五自由度双机械臂构建照明系统并建立了D-H数学模型,对机械臂的正、逆运动学进行了求解;针对交叉聚焦照射和主从补光照射两种临床光照场景,提出了相应的双臂协同运动约束机制和运动规划方法;最后,在MATLAB环境中对双臂无影灯系统的协同运动控制算法进行了仿真分析。研究结果表明:双臂协同运动控制算法可行且效果良好,双臂末端和各关节的运动轨迹均柔顺、无突变,智能双臂无影灯系统能够很好地满足手术中的光照调节要求。For the current lighting system for operating room,the manual adjustment of lighting position to eliminate shadow caused by obstruction will lead to distraction of surgeons'attention and potential contamination of the sterile environment in the surgical area.To address this issue,an intelligent dual-arm shadowless lamp system is proposed.A serial-type 5-degree-of-freedom dual-arm robotic system is adopted to construct the lighting system,and a D-H mathematical model is established to solve the forward and inverse kinematics of the robotic arms.For the clinical lighting scenarios of cross-focused illumination and master-slave supplementary illumination,the corresponding constraint mechanisms and motion planning methods are proposed for dual-arm cooperative control.Finally,a simulation analysis on the algorithm for the cooperative control of the dual-arm shadowless lamp system is conducted in MATLAB environment.The research results show that the dual-arm cooperative control algorithm is feasible and performs well,and that the motion trajectories of both the end effectors and joints of the arms are smooth and continuous,demonstrating that the intelligent dual-arm shadowless lamp system can meet the lighting adjustment requirements during operation.

关 键 词：手术无影灯 智能无影灯系统 双臂机器人 协同控制 轨迹规划 

分 类 号：R318[医药卫生—生物医学工程] TP24[医药卫生—基础医学]