于凌涛, 王文杰. 基于系统阻力变化的手术微器械夹持力检测[J]. 机器人, 2018, 40(3): 368-376.DOI: 10.13973/j.cnki.robot.170401.
YU Lingtao, WANG Wenjie. Clamping Force Sensing of Surgical MicromanipulatorsBased on the Changes of System Resistance. ROBOT, 2018, 40(3): 368-376. DOI: 10.13973/j.cnki.robot.170401.
Abstract:An equivalent experimental platform for a 3 DOF (degree of freedom) micromanipulator is established to solve the force sensing problem for surgical robot micromanipulator. A comprehensive resistance model of the driven joint unit is designed based on the complete dynamic models of the cable-driven micromanipulator joints, and the comprehensive resistance neural network model is obtained through data fitting of the experimental results based on BP (backpropagation) neural network model. Finally, a clamping force estimation strategy is proposed based on the comprehensive resistance changes of the driven unit, and its performance is verified by the experiments of continuous and stepped clamping force loading. The experiment results show that the maximum absolute error is 0.24 N in clamping force measurement, and the accuracy can reach up to 90% in stable period. The method lays the foundation for realizing force feedback of the surgical robot micromanipulator.
[1] Hayashibe M, Suzuki N, Hashizume M, et al. Robotic surgery setup simulation with the integration of inverse-kinematics computation and medical imaging[J]. Computer Methods and Programs in Biomedicine, 2006, 83(1):63-72.
[2] Hayashibe M, Suzuki N, Hashizume M, et al. Preoperative planning system for surgical robotics setup with kinematics and haptics[J]. International Journal of Medical Robotics and Computer Assisted Surgery, 2005, 1(2):76-85.
[3] 唐奥林.面向主从式微创外科手术机器人的遥操作运动控制策略研究[D].上海:上海交通大学,2014:20-27, 70-90.Tang A L. Research on the teleoperation motion control strategy for a master-slave minimally invasive surgical robot[D]. Shanghai:Shanghai Jiao Tong University, 2014:20-27, 70-90.
[4] 马如奇.微创腹腔外科手术机器人执行系统研制及其控制算法研究[D].哈尔滨:哈尔滨工业大学,2013:65-67.Ma R Q. Development of the celiac minimally invasive surgery robotic executing system and research on its control algorithm[D]. Harbin:Harbin Institute of Technology, 2013:65-67.
[5] 于凌涛,王文杰,王正雨,等.一类不满足Pieper准则的机器人逆运动学解析解获取方法[J].机器人,2016,38(4):486-494.Yu L T, Wang W J, Wang Z Y, et al. Acquisition method of inverse kinematics analytical solutions for a class of robots dissatisfying the Pieper criterion[J]. Robot, 2016, 38(4):486-494.
[6] 付宜利,李坤,潘博,等.微创手术机器人力检测与力反馈技术研究现状[J].机器人,2014,36(1):117-128.Fu Y L, Li K, Pan B, et al. A survey of force sensing and force feedback technology for robot-assisted minimally invasive surgical system[J]. Robot, 2014, 36(1):117-128.
[7] Prasad S K, Kitagawa M, Fischer G S, et al. A modular 2-DOF force-sensing instrument for laparoscopic surgery[C]//6th International Conference on Medical Image Computing and Computer-Assisted Intervention. Berlin, Germany:Springer, 2003:279-286.
[8] Tavakoli M, Patel R V, Moallem M. Haptic interaction in robot-assisted endoscopic surgery:A sensorized end-effector[J]. International Journal of Medical Robotics and Computer Assisted Surgery, 2005, 1(2):53-63.
[9] Desai J M, Valdevit A, Ritter A. Development of a real-time Simulink based robotic system to study force feedback mechanism during instrument-object interaction[J]. International Journal of Medical, Health, Biomedical and Pharmaceutical Engineering, 2015, 9(4):332-337.
[10] Kim U, Lee D H, Yoon W J, et al. Force sensor integrated surgical forceps for minimally invasive robotic surgery[J]. IEEE Transactions on Robotics, 2015, 31(5):1214-1224.
[11] Iordachita I, Sun Z L, Balicki M, et al. A sub-millimetric, 0.25 mN resolution fully integrated fiber-optic force-sensing tool for retinal microsurgery[J]. International Journal of Computer Assisted Radiology and Surgery, 2009, 4(4):383-390.
[12] Üneri A, Balicki M A, Handa J, et al. New steady-hand eye robot with micro-force sensing for vitreoretinal surgery[C]//IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics. Piscataway, USA:IEEE, 2010:814-819.
[13] Xie H, Liu H B, Noh Y, et al. A fiber-optics-based body contact sensor for a flexible manipulator[J]. IEEE Sensors Journal, 2015, 15(6):3543-3550.
[14] Kim C, Lee C H. Development of a 6-DoF FBG force-moment sensor for a haptic interface with minimally invasive robotic surgery[J]. Journal of Mechanical Science and Technology, 2016, 30(8):3705-3712.
[15] Tholey G, Pillarisetti A, Green W, et al. Design, development, and testing of an automated laparoscopic grasper with 3-D force measurement capability[C]//International Symposium on Medical Simulation. Berlin, Germany:Springer, 2004:38-48.
[16] Tadano K, Kawashima K. Development of 4-DOFs forceps with force sensing using pneumatic servo system[C]//IEEE International Conference on Robotics and Automation. Piscataway, USA:IEEE, 2006:2250-2255.
[17] Li H B, Kawashima K, Tadano K, et al. Achieving haptic perception in forceps' manipulator using pneumatic artificial muscle[J]. IEEE/ASME Transactions on Mechatronics, 2013, 18(1):74-85.
[18] Haraguchi D, Tadano K, Kawashima K. A prototype of pneumatically-driven forceps manipulator with force sensing capability using a simple flexible joint[C]//IEEE/RSJ International Conference on Intelligent Robots and Systems. Piscataway, USA:IEEE, 2011:931-936.
[19] Haraguchi D, Kanno T, Tadano K, et al. A pneumatically driven surgical manipulator with a flexible distal joint capable of force sensing[J]. IEEE/ASME Transactions on Mechatronics, 2015, 20(6):2950-2961.
[20] Zhao B L, Nelson C A. Sensorless force estimation for a three degrees-of-freedom motorized surgical grasper[J]. Journal of Medical Devices, 2015, 9(3):No.030929.
[21] 范胜波,王太勇,汪文津,等.样本数量对切削力的神经网络预测精度的影响[J].西南交通大学学报,2005,40(5):637-640.Fan S B, Wang T Y, Wang W J, et al. Effect of number of training samples on ANN prediction accuracy for cutting force[J]. Journal of Southwest Jiaotong University, 2005, 40(5):637-640.
[22] 郝红卫,蒋蓉蓉.基于最近邻规则的神经网络训练样本选择方法[J].自动化学报,2007,33(12):1247-1251.Hao H W, Jiang R R. Training sample selection method for neural networks based on nearest neighbor rule[J]. Acta Automatica Sinica, 2007, 33(12):1247-1251.