Design and Control of a Motion Decoupling Continuum Robot for Single Port Surgery
ZHOU Yuanyuan1,2,3, WANG Zhenxing1,2,3,4, WANG Chongyang1,2,3, LI Dingjia1,2,3,4, ZHANG Cheng1, GUO Wei5, ZHANG Zhongtao5, LIU Hao1,2,3
1. State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China; 2. Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang 110169, China; 3. Liaoning Province Key Laboratory of Minimally Invasive Surgical Robot, Shenyang 110016, China; 4. University of Chinese Academy of Sciences, Beijing 100049, China; 5. Beijing Friendship Hospital, Capital Medical University, Beijing 100050, China
周圆圆, 王振兴, 王重阳, 黎定佳, 张诚, 郭伟, 张忠涛, 刘浩. 可运动解耦的连续体单孔手术机器人设计与控制[J]. 机器人, 2021, 43(4): 424-432.DOI: 10.13973/j.cnki.robot.200550.
ZHOU Yuanyuan, WANG Zhenxing, WANG Chongyang, LI Dingjia, ZHANG Cheng, GUO Wei, ZHANG Zhongtao, LIU Hao. Design and Control of a Motion Decoupling Continuum Robot for Single Port Surgery. ROBOT, 2021, 43(4): 424-432. DOI: 10.13973/j.cnki.robot.200550.
Abstract：A topologically decoupled continuum robot is proposed for single port surgery, which realizes the decoupling between multi-segment actuation by designing an intermediate associated continuum segment. Meanwhile, the orientation of the end-effector only depends on the distal end segment, achieving the decoupling of position and orientation. Based on this motion decoupling configuration, the multi-segment continuum robot with six degrees of freedom is realized by designing a spatial cross-curved disk skeleton. The forward kinematics of the robot and the direct solution of inverse kinematics are then given. Finally, the experiments of actuation decoupling and trajectory tracking control are conducted. In tests, the average angular error of the robot decoupling motion is 2.39o, and the tracking error at a speed of 20 mm/s without load is 1.46 mm. The experiment results show that the robot has good ability of actuation decoupling, and can realize motion control with stability based on the direct solution of inverse kinematics.
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