A novel optimal coordinated control strategy for the updated robot system for single port surgery

被引:15
作者
Bai, Weibang [1 ]
Cao, Qixin [1 ]
Leng, Chuntao [2 ]
Cao, Yang [3 ]
Fujie, Masakatsu G. [4 ]
Pan, Tiewen [5 ]
机构
[1] Shanghai Jiao Tong Univ, State Key Lab Mech Syst & Vibrat, Res Inst Biomed Mfg & Life Qual Engn, Res Inst Robot, Shanghai, Peoples R China
[2] Shanghai Jiao Tong Univ, Engn Training Ctr, Shanghai, Peoples R China
[3] Waseda Univ, Grad Sch Creat Sci & Engn, Tokyo, Japan
[4] Waseda Univ, Fac Sci & Engn, Tokyo, Japan
[5] Second Mil Med Univ, Affiliated Hosp 3, Shanghai Eastern Hepatobiliary Surg Hosp, Div Thorac Surg, Shanghai, Peoples R China
关键词
kinematics; master slave mapping; optimal coordinated control strategy; single port surgery (SPS); surgical robot system; SURGICAL ROBOT; DEVICE;
D O I
10.1002/rcs.1844
中图分类号
R61 [外科手术学];
学科分类号
摘要
BackgroundResearch into robotic systems for single port surgery (SPS) has become widespread around the world in recent years. A new robot arm system for SPS was developed, but its positioning platform and other hardware components were not efficient. Special features of the developed surgical robot system make good teleoperation with safety and efficiency difficult. MethodsA robot arm is combined and used as new positioning platform, and the remote center motion is realized by a new method using active motion control. A new mapping strategy based on kinematics computation and a novel optimal coordinated control strategy based on real-time approaching to a defined anthropopathic criterion configuration that is referred to the customary ease state of human arms and especially the configuration of boxers' habitual preparation posture are developed. ResultsThe hardware components, control architecture, control system, and mapping strategy of the robotic system has been updated. A novel optimal coordinated control strategy is proposed and tested. ConclusionsThe new robot system can be more dexterous, intelligent, convenient and safer for preoperative positioning and intraoperative adjustment. The mapping strategy can achieve good following and representation for the slave manipulator arms. And the proposed novel control strategy can enable them to complete tasks with higher maneuverability, lower possibility of self-interference and singularity free while teleoperating.
引用
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页数:17
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