提出约束一致的力矩级控制，提升手术机器人远程中心运动精度
RCM Constraint-Consistent Dynamic Control in Surgical Robots
- 将远程中心约束建模为非定常完整约束，实现力矩层面统一控制
- 仿真与实测显示残差更低、力矩更平滑，工具末端追踪精度高
- 适合需要高安全性的手术机器人实时控制场景
机器人辅助微创手术（RAMIS）需精确执行远程中心运动（RCM）约束，以确保器械通过套管时的安全运动。现有虚拟RCM控制器多在运动学层或任务空间目标下设计，难以在套管移动和物理交互条件下一致地进行力矩级约束执行。本文将RCM建模为非定常完整约束，并融入基于投影的逆动力学控制器，实现显式的约束/自由运动力矩分解。该方法在力矩层面统一了运动学RCM执行与任务空间跟踪，同时保持残差调节与零空间柔顺性所需的约束一致性结构。所提控制器在仿真及一个RAMIS训练平台上，对比代表性投影法与约束动力学基线，验证了其在螺旋轨迹跟踪、插入深度变化、移动套管条件及人机交互下的有效性：实现了更低的RCM残差与更平滑的扭矩曲线，同时保持了精准的工具端追踪。结果支持采用约束一致的力矩控制来实现手术机器人中可靠的虚拟RCM执行。
原文摘要 · Abstract (English)
Robotic-assisted minimally invasive surgery (RAMIS) requires accurate enforcement of the remote center of motion (RCM) constraint to ensure safe tool motion through a trocar. Existing virtual RCM controllers are commonly formulated either at the kinematic level or as task-space objectives, which makes torque-level enforcement under trocar motion and physical interaction difficult to formulate consistently. This paper models the RCM as a rheonomic holonomic constraint and incorporates it into a projection-based inverse-dynamics controller with explicit constrained/free-motion torque decomposition. The resulting formulation unifies kinematic RCM enforcement and task-space tracking at the torque level, while preserving a constraint-consistent structure for residual regulation and null-space compliance. The proposed controller is validated in simulation and on a RAMIS training platform against representative projection-based and constrained-dynamics baselines. Across spiral tracking, varying insertion depth, moving trocar conditions, and human interaction, the method achieves lower RCM residuals and smoother torque profiles while maintaining accurate tool-tip tracking. These results support the use of constraint-consistent torque control for reliable virtual RCM enforcement in surgical robotics. The project page is available at https://rcmpc-cube.github.io
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