解决手术机器人因不可见关节误差导致的控制不稳定问题
Stable Tracking-in-the-Loop Control of Cable-Driven Surgical Manipulators under Erroneous Kinematic Chains
- 设计可证明稳定的闭环追踪控制器，处理不可见关节的误差
- 在仿真与真实场景中验证方法有效性，实现全链路稳定控制
- 为从遥控操作向自主手术过渡提供关键技术支撑
远程中心运动（RCM）机器人已革新微创外科手术，使外科医生能在不扰动患者体表插入点的情况下精确操控器械。准确的RCM工具控制对实现缝合、吸血和肿瘤切除等自动化子任务至关重要，有助于减轻医生疲劳并改善患者预后。然而，这类缆绳驱动系统存在显著的关节读数误差，干扰必要的运动学计算。尽管内窥镜摄像头可校正可视关节的误差，但插入点之前的运动链误差因无法被观测而难以修复。此前研究未分析此类条件下的控制稳定性。本文填补该空白，设计了针对不可见运动链部分的可证明稳定闭环追踪控制器，并将其集成至全链路双层控制架构中。我们在模拟与真实环境中严格验证该方法，证实理论成果。本工作为实现从遥控到自主手术的关键跃迁提供了重要启示。
原文摘要 · Abstract (English)
Remote Center of Motion (RCM) robotic manipulators have revolutionized Minimally Invasive Surgery, enabling precise, dexterous surgical manipulation within the patient's body cavity without disturbing the insertion point on the patient. Accurate RCM tool control is vital for incorporating autonomous subtasks like suturing, blood suction, and tumor resection into robotic surgical procedures, reducing surgeon fatigue and improving patient outcomes. However, these cable-driven systems are subject to significant joint reading errors, corrupting the kinematics computation necessary to perform control. Although visual tracking with endoscopic cameras can correct errors on in-view joints, errors in the kinematic chain prior to the insertion point are irreparable because they remain out of view. No prior work has characterized the stability of control under these conditions. We fill this gap by designing a provably stable tracking-in-the-loop controller for the out-of-view portion of the RCM manipulator kinematic chain. We additionally incorporate this controller into a bilevel control scheme for the full kinematic chain. We rigorously benchmark our method in simulated and real world settings to verify our theoretical findings. Our work provides key insights into the next steps required for the transition from teleoperated to autonomous surgery.
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