视网膜显微手术机器人的约束运动规划及仿真

为了辅助医生完成视网膜显微手术中精细的手术操作，过滤颤抖、提高精度和稳定性，提出一种生成手术机器人空间运动约束的方法——虚拟固定器（VF）．首先，通过引入手术环境约束和任务约束，采用加权、线性化的多目标约束条件，根据用户的输入设置目标函数，构造了视网膜显微手术中所需的6个虚拟固定器基元．在此基础上，以远程运动中心虚拟约束（RCM VF）的生成为例，通过约束运动基元的组合，推导了复杂约束运动的实现方法．各约束运动基元算法及复杂约束运动算法的仿真结果表明，手术器械可以按照虚拟固定器的定义实现特定的约束运动．最后，在各手术步骤中引入约束运动基元的基础上，在乒乓球和离体猪眼球上进行了手术操作实验，证明了在该虚拟固定器的引导下，视网膜机器人可以完成高难度的手术操作，验证了所提出算法的合理性和有效性．

Constrained Motion Planning and Simulation of a Retinal Microsurgical Robot

In order to assist the surgeons to complete the fine operation of retinal microsurgery, a method of generating spatial motion constraints for surgical robots, named virtual fixture (VF), is proposed to filter the trembling, and improve the accuracy and stability. Firstly, the surgical environment constraints and the task constraints are introduced, and 6 VF primitives needed for retinal microsurgery are constructed by using the weighted, linearized, multi-objective constraint conditions, and taking the users' input as the objective function. On this basis, taking the generation of the remote-center-of-motion virtual fixture (RCM VF) as an example, the implementation method of complex constrained motion is deduced by the combination of the constrained movement primitives. The simulation results of each constrained motion primitive algorithm and the complex constrained motion algorithm show that, the surgical instrument can realize the specific constrained motions according to the definition of the VF. Finally, based on the introduction of constrained motion primitives in each surgical procedure, experiments are performed on table tennis and the in vitro porcine eye, which prove that the retinal surgical robot can perform difficult surgical operations under the guidance of the VFs. Therefore, the rationality and effectiveness of the proposed algorithm are verified.