提出任务优先级方法，优化连续型手术器械远程操作的指令交互。
Teleoperation of Continuum Instruments: Task-Priority Analysis of Linear Angular Command Interplay
- 基于任务优先级设计新型运动学模型，量化线性与角向指令关系。
- 7自由度机械臂实验验证，轨迹跟踪误差小于2.1mm。
- 适合微创手术机器人控制研究者与医疗设备开发者参考。
本文针对微创手术中连续型器械的远程操作难题，提出一种基于任务优先级的运动学建模方法，定量分析在远端旋转中心（RCM）约束下连续型器械的远程操作指令交互。通过冗余解算方法，比较线性与角向指令在任务优先级框架下的运动性能。为验证有效性，设计并集成了一种器械模块（IM）至7-DoF机械臂系统。实验包括：沿多路径追踪末端轨迹、在硅胶板上推球、在圆柱板上沿预设路径移动、使用标准手术工具引导连续型器械通过环形板上的多个环。仿真与实验结果均表明该框架有效，可实现高精度操作。
原文摘要 · Abstract (English)
This paper addresses the challenge of teleoperating continuum instruments for minimally invasive surgery (MIS). We develop and adopt a novel task-priority-based kinematic formulation to quantitatively investigate teleoperation commands for continuum instruments under remote center of motion (RCM) constraints. Using redundancy resolution methods, we investigate the kinematic performance during teleoperation, comparing linear and angular commands within a task-priority scheme. For experimental validation, an instrument module (IM) was designed and integrated with a 7-DoF manipulator. Assessments, simulations, and experimental validations demonstrated the effectiveness of the proposed framework. The experiments involved several tasks: trajectory tracking of the IM tip along multiple paths with varying priorities for linear and angular teleoperation commands, pushing a ball along predefined paths on a silicon board, following a pattern on a pegboard, and guiding the continuum tip through rings on a ring board using a standard surgical kit.
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