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微创手术机器人的力／位解耦协同智能控制.pdf

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微创手术机器人的力／位解耦协同智能控制

35 1 ROBOT Vol.35, No.1 2013 1 Jan., 2013 .J.1218.2013.00073 DOI 10.3724/SP 12 12 12 1. 201620 2. 201620 4 3 TP24 A 1002-0446(2013)-01-0073-08 Decoupled and Coordinated Intelligent Force-position Control for Minimally Invasive Surgical Robot GUO Chongbin12 HAO Kuangrong12 DIND Yongsheng12 (1. College of Information Sciences and Technology, Donghua University, Shanghai 201620, China; 2. Engineering Research Center of Digitized Textile Fashion Technology, Ministry of Education, Shanghai 201620, China) Abstract: In order to solve the problem that current commercially available minimally surgical robots do not include signiﬁcant haptic (force) feedback mechanism, a novel decoupled and coordinated force-position control strategy with corre- sponding intelligent control system design is proposed based on bilateral decoupled and coordinated bio-regulation mecha- nism in human body, in which control features of minimally surgical robots are considered. Actual experiments are carried out with four 3-DOF (degree of freedom) haptic manipulators to illustrate the performance of the proposed intelligent con- troller system. The results indicate that the proposed control system can achieve decoupled and coordinated force-position control. The operator can get accurate force feedback to guarantee robot performing task harmoniously and stably. Keywords: minimally invasive surgery; da Vinci robot; decoupled control; coordinated control; force-position control; fuzzy controller 1 Introduction