双臂手术机器人力控制优化  

Force control optimization for dual-arm surgical robot

作　　者：方程 胡陟 FANG Cheng;HU Zhi(School of Electronic and Electrical Engineering,Shanghai University of Engineering Science,Shanghai 201620,China)

机构地区：[1]上海工程技术大学电子电气工程学院,上海201620

出　　处：《中国医学物理学杂志》2025年第3期397-405,共9页Chinese Journal of Medical Physics

基　　金：国家自然科学基金(62003207);国家重点研发计划(2019YFC0119303);中国博士后基金面上项目(2021M690629)。

摘　　要：讨论双臂手术机器人辅助系统中的机械臂在拉伸软组织时的情况,探讨拉伸过程中的力控制优化问题。采用自适应阻抗控制方案,以解决软组织接触环境中非线性刚度变化带来的力误差挑战。该方案结合在线自适应策略,用于调整阻抗参数和参考轨迹。通过基于李亚普诺夫函数的估计器提高轨迹精度,通过模型预测控制调整阻抗参数,使机器人在拉伸过程中能够避免实时力超调并提高力收敛速度。实验结果显示,提出的控制策略成功规避了力超调,在实时接触过程中加快力收敛速度。这种方法有助于实现软组织手术中的精确力控制,为未来临床应用奠定基础。This study explores how the robotic arm in a dual-arm surgical robot-assisted system stretches soft tissue,and specifically discusses the issue of force control optimization during the stretching.To address the force error challenges posed by non-linear stiffness changes in soft tissue contact,adaptive impedance control scheme is adopted,which combines with an online adaptive strategy to adjust impedance parameters and reference trajectories.The trajectory accuracy improvement through an estimator based on Lyapunov function and impedance parameter adjustment through model predictive control enable the robot to void real-time force overshoot and improve the force convergence speed during the stretching.Experimental results show that the proposed control strategy successfully avoids force overshoot and accelerates force convergence during real-time contact.The proposed approach supports precise force control during soft tissue surgery and lays a foundation for future clinical applications.

关 键 词：力跟踪 自适应阻抗控制 力超调避免 加速收敛 模型预测控制 

分 类 号：R318[医药卫生—生物医学工程] TP242[医药卫生—基础医学]