面向TEM手术的柔性机器人设计与控制

Design and Control of a Flexible Robot for TEM Surgery

摘要: 面向经肛内镜微创手术（TEM），设计了一种基于万向轴关节和串联杆结构的柔性机器人。基于柔性体变形的恒曲率模型建立了万向轴关节的正运动学，并提出了一种万向轴关节的正运动学优化方法，建立了柔性机器人驱动空间、关节空间以及工作空间之间的映射关系。设计并实现了柔性机器人的主从控制方法。采用光学定位系统对柔性机器人末端定位误差进行检测，实验结果表明，柔性机器人末端的绝对定位误差小于6.00 mm，重复定位误差小于3.00 mm。

Abstract: For transanal endoscopic microsurgery (TEM), a flexible robot based on universal joints and series rods is designed. Based on the constant curvature model of flexible body deformation, the forward kinematics of universal joints is derived, and its optimization method is proposed. The mapping relationship among driving space, joint space and workspace of the flexible robot is established. A master-slave control method of the flexible robot is designed and implemented. An optical positioning system is used to measure the positioning error of the flexible robot's end. The experimental results show that the absolute positioning error of the flexible robot's end is less than 6.00 mm, and the repeated positioning error is less than 3.00 mm.