基于动量观测器的微创手术机器人外力安全研究  

Research on external force safety of minimally invasive surgical robot based on momentum observer

作　　者：刘芬[1] 李海鹏 贠今天[1] 桑宏强[1,2] LIU Fen;LI Haipeng;YUN Jintian;SANG Hongqiang(School of Mechanical Engineering,Tiangong University,Tianjin 300387,China;Key Laboratory of Tianjin Modern Electromechanical Equipment Technology,Tianjin 300387,China)

机构地区：[1]天津工业大学机械工程学院,天津300387 [2]天津市现代机电装备技术重点实验室,天津300387

出　　处：《传感器与微系统》2024年第11期49-52,57,共5页Transducer and Microsystem Technologies

基　　金：国家自然科学基金资助项目(51975409);天津市高等学校创新团队培养计划资助项目(TD13-5037)。

摘　　要：为了解决机器人辅助微创手术中现有力检测和力反馈技术在实际应用中存在的安装受限、系统不稳定等问题,提出了一种基于动量观测器的微创手术机器人外力安全保障策略。基于动力学模型构建了二阶广义动量观测器,用于观测从手末端执行器上的外力信息。为提高外力观测精度,采用改进的Stri⁃beck摩擦模型并辨识了关节摩擦力矩参数。设计了外力安全保障策略,用于阻止从手末端执行器施加过大的外力。实验结果表明:所提出的外力安全保障策略能够控制从手末端执行器在设定的外力安全阈值内运动,进一步提高了机器人辅助微创手术的安全性。To solve the problems of limited installation and unstable system in the practical application of the current force detection and force feedback technology in the robot⁃assisted minimally invasive surgery,a momentum observer based external force security guarantee strategy for minimally invasive surgical robots is proposed.Based on the dynamic model,a second⁃order generalized momentum observer is constructed to observe the external force information from the end effector of the slave manipulator.To improve the precision of external force observation,an improved Stribeck friction model is used and the parameters of joint friction torque are identified.The external force security guarantee strategy is designed to prevent the application of excessive external force from the end effector of the slave manipulator.The experimental results show that the proposed external force security guarantee strategy can control the movement of the end effector of the slave manipulator within the set external force safety threshold,further improving the safety of robot⁃assisted minimally invasive surgery.

关 键 词：微创手术机器人 动量观测器 摩擦参数辨识 

分 类 号：TP241[自动化与计算机技术—检测技术与自动化装置]