主从式外科手术机器人实时控制算法

针对机器人运动模型的非线性，导致异构型主从式外科手术机器人系统控制算法需要大量的计算的问题。基于线性化的思想，利用逆Jacobian矩阵将笛卡尔速度映射到关节速度，并用关节瞬时速度代替微小时间段内位移，线性化机器人运动学模型，减小计算量，满足机器人实现缝合打结等手术操作的实时性要求。通过增加反馈环节，消除机器人在工作空间下线性化模型的误差累积，提高系统整体大范围运动精度。关节空间内的样条插值方法，有效改善机器人运动特性，消除人手的抖动。本算法应用在“妙手”外科手术机器人系统上，成功地对兔子腿部微细动脉进行血管吻合手术操作。

REALTIME CONTROL ALGORITHM FOR TELEOPERATED SURGERY ROBOT

As a result of isomery between master and slave, teleoperated surgical robot must process enormous calculation. Based on linearize ideology,a novel algorithm which can sat- isfy the surgical operation that requires quick response,high precise and safety is presented.At first,the velocity in cartesian frame is mapped to the velocity in joint frame through the in- verse Jacobian matrix,and then makes the instant velocity in- stead of the distance of the joint.Therefore the calculation is simplified to satisfy the realtime requirement of surgery.As a feedback signal,error between master and slave is applied to eliminate error generated by approximate linear kinematics. Cubic interaction in joint space is used to eliminate surgeon's tremor and control the robot safely and smoothly.Based on the algorithm,MicroHand system accomplishes the vas suturing experiment for a rabbit's leg micro artery.