| 光学定位机器人微创手术系统视觉伺服控制 |
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| 引用本文： | 陈国栋,贾培发,宋亦旭.光学定位机器人微创手术系统视觉伺服控制[J].高技术通讯,2009,19(3). |
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| 作者姓名： | 陈国栋 贾培发 宋亦旭 |
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| 作者单位： | 清华大学计算机科学与技术系智能技术与系统国家重点实验室,北京,100084 |
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| 基金项目： | 国家高技术研究发展计划(863计划) |
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| 摘 要： | 为满足机器人辅助微创手术系统手术中轨迹跟踪和绝对定位的高精度要求,为其研制了一个基于光学定位的视觉伺服系统.该系统采用光学跟踪定位手段,实时测量机器人末端位姿并反馈,在光学测量空间实现全局闭环的位姿校正控制,使影响机器人轨迹跟踪和定位精度的主要误差因素得到有效校正,从而保证了机器人跟踪和定位的高精确度.分析了系统的组成和工作原理,提出一种笛卡儿空间位姿校正和关节空间速度控制综合的轨迹跟踪控制方法,仿真结果验证了该方法的有效性.
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| 关 键 词： | 外科辅助机器人 位姿闭环控制 视觉伺服 光学定位 |
Visual servoing control for robot-assisted micro-invasive surgery systems based on optical positioning |
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| Chen Guodong,Jia Peifa,Song Yixu.Visual servoing control for robot-assisted micro-invasive surgery systems based on optical positioning[J].High Technology Letters,2009,19(3). |
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| Authors: | Chen Guodong Jia Peifa Song Yixu |
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| Affiliation: | Chen Guodong,Jia Peifa,Song Yixu (State Key Laboratory of Intelligent Technology and Systems,Department of Computer Science and Technology,Tsinghua University,Beijing 100084) |
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| Abstract: | A visual servosystem based on optical positioning for robot-assisted micro-invasive surgery systems was developed to improve the tracking and positioning accuracy of the robotic systems in the absolute coordinates. Its visual servocontrol can be described as below. A high-precision devise for optical positioning is introduced and combined with the robotic systems to sense and feedback the pose of the robot end-effecter in real time. A global closed-loop pose control is applied to the robotic systems in opti... |
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| Keywords: | surgery assistant robot position and pose closed loop control visual servo optical positioning |
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