多自由度绳驱微操作腕式夹爪的建模与力估计  

Modeling and Force Estimation of Multi DOFs Rope-driven Micromanipulation Wrist Gripper

作　　者：任晗 边桂彬[2] 叶强 马睿宸 李桢 张向慧 REN Han;BIAN Gui-bin;YE Qiang;MA Rui-chen;LI Zhen;ZHANG Xiang-hui(School of Mechanical and Materials Engineering,North China University of Technology,Beijing 100114,China;State Key Laboratory of Multimodal Artificial Intelligence,Institute of Automation,Chinese Academy of Sciences,Beijing 100090,China)

机构地区：[1]北方工业大学机械与材料工程学院,北京100114 [2]中国科学院自动化研究所多模态人工智能全国重点实验室,北京100090

出　　处：《科学技术与工程》2025年第7期2825-2831,共7页Science Technology and Engineering

基　　金：国家自然科学基金(62027813)。

摘　　要：脑血管搭桥、脑组织解剖、神经吻合等软组织显微手术缺乏微力感知显微手术器械。为了拓展人手操作精度,设计了一种专为手术机器人使用的新型多自由度绳驱微操作腕式夹爪,旨在提高操作精度并增加操作过程中的接触力感知。该腕式夹爪通过丝杠驱动六根绳索实现微型化器械远端的灵巧运动。通过电机直接驱动丝杠的方式提高了绳索驱动精度,从而实现了远端腕式夹爪的操作精度和稳定性。此外,驱动绳索后端与丝杠之间设计有力传感器,实现对绳索张紧力的直接实时监测。基于绳索张紧力提出了对腕式夹爪接触力的计算模型,实现了腕式关节对外界接触力的感知测量。实验结果表明,开环控制下腕式夹爪运动跟踪误差均值<1°,力估计平均值最大为53.85 mN。Neurosurgical procedures like cerebral vascular bypass,brain tissue dissection,and neurorrhaphy often lack microsurgical instruments with delicate force perception.To enhance manual precision and tactile force perception during surgery,a novel multi DOFs rope-driven micromanipulation wrist gripper designed was introduced for surgical robots.This wrist gripper was powered by a screw drive controlling six ropes,facilitating dexterous movements at the distal end of miniature instruments.The high gear reduction ratio of the screw drive enhances driving precision,thereby achieving high operational accuracy and stability of the distal wrist gripper.Moreover,a force sensor was integrated between the ropes rear end and the screw drive to monitor the tension in the ropes in real time.Based on the tension in the ropes,a computational model for estimating the contact force at the distal end of the wrist gripper was proposed,enabling the perception of external contact forces.Experimental results show that under open-loop control,the average motion tracking error of the wrist gripper is less than 1°,and the maximum mean value of force estimation error is 53.85 mN.

关 键 词：显微外科 绳索驱动 腕式夹爪 动力学 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]