提出一种满足手术机器人运动中心约束的轨迹跟踪方法。
RCM-Constrained Manipulator Trajectory Tracking Using Differential Kinematics Control
- 基于微分运动学控制，算法化实现运动中心约束。
- 引入考虑运动中心误差的可操作性指标，优化起始配置。
- 适用于多种通用机器人，适合需要精确轨迹控制的微创手术场景。
本文提出一种用于外科手术机器人系统的控制方法，可在机器人辅助微创手术（RA-MIS）中满足远程运动中心（RCM）约束。该方法通过算法确保RCM约束，灵活调整器械插入点位置，并兼容多种通用机器人。论文进一步研究了器械插入比对RCM误差的影响，提出了一个考虑RCM误差的机器人可操作性指标，用于寻找最优起始配置。为准确评估所提方法在RCM约束环境下的轨迹跟踪性能，采用电磁跟踪系统进行测量。实验结果验证了该方法在解决RA-MIS中RCM约束问题上的有效性。
原文摘要 · Abstract (English)
This paper proposes an approach for controlling surgical robotic systems, while complying with the Remote Center of Motion (RCM) constraint in Robot-Assisted Minimally Invasive Surgery (RA-MIS). In this approach, the RCM-constraint is upheld algorithmically, providing flexibility in the positioning of the insertion point and enabling compatibility with a wide range of general-purpose robots. The paper further investigates the impact of the tool's insertion ratio on the RCM-error, and introduces a manipulability index of the robot which considers the RCM-error that it is used to find a starting configuration. To accurately evaluate the proposed method's trajectory tracking within an RCM-constrained environment, an electromagnetic tracking system is employed. The results demonstrate the effectiveness of the proposed method in addressing the RCM constraint problem in RA-MIS.
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