A Compliant Control of a Colonoscopy Robot Based on Force Sensing
FENG Xiaoxiao, HU Haiyan, LI Longwei, LI Weida, SUN Lining
Collaborative Innovation Center of Suzhou Nano Science and Technology, School of Mechanical and Electric Engineering, Soochow University, Suzhou 215021, China
冯笑笑, 胡海燕, 李龙委, 李伟达, 孙立宁. 基于力感知的结肠镜机器人柔顺控制[J]. 机器人, 2016, 38(2): 217-224.DOI: 10.13973/j.cnki.robot.2016.0217.
FENG Xiaoxiao, HU Haiyan, LI Longwei, LI Weida, SUN Lining. A Compliant Control of a Colonoscopy Robot Based on Force Sensing. ROBOT, 2016, 38(2): 217-224. DOI: 10.13973/j.cnki.robot.2016.0217.
As the position and shape of human intestinal canal are unfixed for reason of the relative floating property of canal, a compliant control method for colonoscopy robots based on force sensing is proposed to improve the safety and reliability of the endoscopy. Firstly, the force sensor mounted on the colonoscopy robot is analyzed and designed according to the robot surface structure. Then, a compliant control algorithm is proposed based on the analyses on biomechanical characteristics of the intestinal canal and the coupling relationship between the robot joints. Finally, a robot control system is built to verify the feasibility of the algorithm by experiment. And experimental results show that the colonoscopy robot's ability to sense the contact pressure on intestinal canal is improved with the proposed method, which ensures the pressure value is within the threshold, and thus the security and reliability of the intestinal inspection are improved.
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