引用本文: 马如奇, 王伟东, 董为, 杜志江. 基于改进梯度投影算法的腹腔微创外科手术机器人系统术前摆位分析[J]. 机器人, 2014, 36(2): 156-163.
MA Ruqi, WANG Weidong, DONG Wei, DU Zhijiang. Preoperative Positioning Analysis of the Celiac Minimally Invasive Surgery Robotic System Based on an Improved Gradient Projection Algorithm[J]. ROBOT, 2014, 36(2): 156-163.
 Citation: MA Ruqi, WANG Weidong, DONG Wei, DU Zhijiang. Preoperative Positioning Analysis of the Celiac Minimally Invasive Surgery Robotic System Based on an Improved Gradient Projection Algorithm[J]. ROBOT, 2014, 36(2): 156-163.

## Preoperative Positioning Analysis of the Celiac Minimally Invasive Surgery Robotic System Based on an Improved Gradient Projection Algorithm

• 摘要: 通过机器人腹腔镜微创外科手术的术前摆位分析，使双器械臂具有较为合理的操作空间，以避免双器械臂在缝合、打结等协同手术操作中的运动干涉．首先，将两器械臂之间的最大距离指标作为梯度投影算法的优化目标函数，并利用双器械臂的封闭逆解方程对梯度投影法进行改进，较好地消除投影梯度法在逆解求解过程中存在的累积误差．最后，将改进的梯度投影算法应用于腹腔微创外科手术机器人术前摆位分析中，仿真结果表明该方法能够满足系统对术前摆位的要求．

Abstract: In celiac minimally invasive robotic laparoscope surgery (MILS), motion interference of two manipulators should be avoided during cooperative operation, such as suturing and knotting operation. A reasonable operation space for two instrument manipulators is given by preoperative positioning analysis. Firstly, the maximum distance index between the two manipulators is selected as the objective optimization function of the gradient projection algorithm. And a closed-form inverse solution of the manipulators is used to improve the algorithm, which can eliminate the cumulative error existed in the inverse kinematics solving process of the gradient projection algorithm. At last, the improved gradient projection algorithm is applied to the preoperative positioning analysis of the celiac minimally invasive surgical robot system. The simulation results show that the improved method can satisfy the preoperative positioning requirements of the surgery system.

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