Design of Master-Slave Operation Robot Based on Impedance Control in Minimally Invasive Spinal Surgery
LU Ming1,2, ZHAO Yiwen1, JIANG Yunxiang1
1. The State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China;
2. University of Chinese Academy of Sciences, Beijing 100049, China
Abstract：Aiming at the robot systems for minimally invasive spine surgery (MTSS), an impedance control strategy suitable for double systems is put forward, and related analysis and experimental research are carried out. Firstly, the relationship between the end-effector and the joint angle is obtained through kinematics calculation. Then, conversion formula between the force and the position is deduced based on the impedance relationship model. Finally, the actual angle of each joint is calculated through position control. This paper solves the coordination control problems of force and position, improves the accuracy of force and position control in MTSS robots, ensures the position and force consistency between the master and slave robots, and makes the master robot reproduce states of the slave robot accurately. At the operation level, the proposed system can save the doctor from long-term heavy operation and improve the operation accuracy and final effect of MTSS.
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