论文标题
一个被动入学控制器，以实施手术程序，以实施远程运动中心和工具空间约束
A passive admittance controller to enforce Remote Center of Motion and Tool Spatial constraints with application in hands-on surgical procedures
论文作者
论文摘要
在最低侵入性手术程序中，对操纵器链路的可行动作的限制是一个常见的问题。需要额外的空间限制，以确保敏感区域免受无意损害的安全性。在这项工作中，我们设计了一个目标入口模型，该模型被证明可以通过远程运动中心来强制人工操纵机器人工具，并确保该工具永远不会进入或触摸禁止区域。在人力力量的施加下，控制方案被证明是被动的，从而确保操纵稳定性，并在动手外科手术程序中平稳运动，从而增强了用户对任务的控制感。通过模拟包括KUKA LWR4+和虚拟术中环境的动手外科手术的设置进行了实验，可以证明其性能。
The restriction of feasible motions of a manipulator link constrained to move through an entry port is a common problem in minimum invasive surgery procedures. Additional spatial restrictions are required to ensure the safety of sensitive regions from unintentional damage. In this work, we design a target admittance model that is proved to enforce robot tool manipulation by a human through a remote center of motion and to guarantee that the tool will never enter or touch forbidden regions. The control scheme is proved passive under the exertion of a human force ensuring manipulation stability, and smooth natural motion in hands-on surgical procedures enhancing the user's feeling of control over the task. Its performance is demonstrated by experiments with a setup mimicking a hands-on surgical procedure comprising a KUKA LWR4+ and a virtual intraoperative environment.
