Active constraint control for the surgical robotic platform with concentric connector joints

IF 1.7 4区医学 Q3 ENGINEERING, BIOMEDICAL Medical Engineering & Physics Pub Date : 2024-09-02 DOI:10.1016/j.medengphy.2024.104236

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Abstract

Robotic minimally invasive surgery (MIS) has changed numerous surgical techniques in the past few years and enhanced their results. Haptic feedback is integrated into robotic surgical systems to restore the surgeon's perception of forces in response to interaction with objects in the surgical environment. The ideal exact emulation of the robot's interaction with its physical environment in free space is a very challenging problem to solve completely. Previously, we introduced the surgical robotic platform (SRP) with a novel concentric connector joint (CCJ). This study aims to develop a haptic control system that integrates an active constraint controller into a surgical robot platform. We have successfully established haptic feedback control for the surgical robot using constraint control and inverse kinematic relationships integrated into the overall positioning structure. A preliminary feasibility study, modelling, and simulation were presented.

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带同心连接器关节的手术机器人平台的主动约束控制

在过去几年里，机器人微创手术（MIS）改变了许多外科技术，提高了手术效果。触觉反馈被集成到机器人手术系统中，以恢复外科医生在手术环境中与物体互动时对力的感知。在自由空间中理想地精确模拟机器人与其物理环境的互动是一个极具挑战性的问题，很难完全解决。在此之前，我们介绍了带有新型同心接头（CCJ）的手术机器人平台（SRP）。本研究旨在开发一种将主动约束控制器集成到手术机器人平台的触觉控制系统。我们成功地为手术机器人建立了触觉反馈控制，将约束控制和反向运动关系集成到整体定位结构中。我们介绍了初步的可行性研究、建模和仿真。

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来源期刊

Medical Engineering & Physics 工程技术-工程：生物医学

CiteScore

4.30

自引率

4.50%

发文量

172

审稿时长

3.0 months

期刊介绍： Medical Engineering & Physics provides a forum for the publication of the latest developments in biomedical engineering, and reflects the essential multidisciplinary nature of the subject. The journal publishes in-depth critical reviews, scientific papers and technical notes. Our focus encompasses the application of the basic principles of physics and engineering to the development of medical devices and technology, with the ultimate aim of producing improvements in the quality of health care.Topics covered include biomechanics, biomaterials, mechanobiology, rehabilitation engineering, biomedical signal processing and medical device development. Medical Engineering & Physics aims to keep both engineers and clinicians abreast of the latest applications of technology to health care.