基于虚拟夹具的手术机器人导纳控制安全策略

doi:10.13973/j.cnki.robot.190025

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唐宇存, 张建法, 武帅, 孙凤龙, 匡绍龙, 孙立宁. 基于虚拟夹具的手术机器人导纳控制安全策略[J]. 机器人, 2019, 41(6): 842-848.DOI: 10.13973/j.cnki.robot.190025. TANG Yucun, ZHANG Jianfa, WU Shuai, SUN Fenglong, KUANG Shaolong, SUN Lining. Safety Strategy of Surgical Robot Admittance Control Based on Virtual Fixtures. ROBOT, 2019, 41(6): 842-848. DOI: 10.13973/j.cnki.robot.190025.

摘要针对人机协同手术全过程中医生不正确操作以及手术空间复杂性所导致的潜在安全问题，提出基于虚拟夹具的导纳控制安全策略．该策略针对人机协同手术中拖动引导阶段、精准定位阶段以及手术操作阶段的特点，结合导纳控制原理，分别设计了管道虚拟夹具、圆锥体虚拟夹具以及基于人工势场的禁止型虚拟夹具模型．在自主研发的手术机器人上模拟关节置换手术进行相应的实验验证，结果表明管道虚拟夹具可以在一定范围内有效地辅助机器人沿着轨迹运动；圆锥体虚拟夹具可以有效地减小医生拖动机器人时的定位误差，其定位误差为0.23 mm；禁止型虚拟夹具可以有效地避免机器人越过手术区域，从而保证机器人手术操作的安全．

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	唐宇存
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	孙立宁

关键词 ：虚拟夹具, 导纳控制, 手术机器人, 人机协同, 关节置换手术

Abstract：A strategy of the admittance control based on virtual fixtures is proposed to solve the potential safety problem caused by the incorrect operation of the doctor and the complexity of the surgical space during the human-robot cooperative surgery. The tube virtual fixtures, the cone virtual fixtures and the forbidden-region virtual fixtures based on artificial potential field are designed according to the principle of admittance control and the features of drag-guided phase, precise positioning phase, surgical operation phase in human-robot cooperative surgery. And the simulation experiments of knee replacement surgery are carried out on the self-developed surgical robot. The results show that the tube virtual fixtures can effectively assist the robot move along the trajectory; The cone virtual fixtures can effectively reduce the positioning error of the doctor dragging the robot, and the positioning error is 0.23 mm; The forbidden-region virtual fixtures can effectively prevent the robot from crossing the operation area and ensure the safety of the surgical operation.

Key words： virtual fixture admittance control surgical robot human-robot cooperation knee replacement surgery

收稿日期: 2019-01-14 录用日期: 2019-05-27

TP242.3

基金资助:国家自然科学基金（U1713218，61375090）；国家863计划（2015AA043204）

通讯作者: 匡绍龙,slkuang@suda.edu.cn E-mail: slkuang@suda.edu.cn

作者简介: 唐宇存(1994-),男,硕士生.研究领域:医疗机器人.

链接本文:

https://robot.sia.cn/CN/10.13973/j.cnki.robot.190025 或 https://robot.sia.cn/CN/Y2019/V41/I6/842

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