Anthropomorphic Dual-Arm Coordinated Control for a Single-Port Surgical Robot Based on Dual-Step Optimization
Anthropomorphic Dual-Arm Coordinated Control for a Single-Port Surgical Robot Based on Dual-Step Optimization
复制标题
DOI：
10.1109/tmrb.2022.3145673
复制
发表时间：
2022-02
期刊：
影响因子：
--
通讯作者：
Weibang Bai;Ziwei Wang;Q. Cao;H. Yokoi;M. Fujie;E. Yeatman;Guang-Zhong Yang
中科院分区：
文献类型：
--
作者：
Weibang Bai;Ziwei Wang;Q. Cao;H. Yokoi;M. Fujie;E. Yeatman;Guang-Zhong Yang
小规模、高集成度的单端口手术机器人的有效遥操作对控制和人机交互提出了独特的挑战。传统的等距遥操作方案主要集中在端到端的轨迹映射，这在应用于SPS机器人控制，特别是双臂协调操作时存在问题。受拳击动作中人体手臂构形的启发，提出了一种基于双步优化方法的优化拟人协调控制策略。给出了问题的理论推导和可解性，并在详细的模拟和体外实验中进一步证明了该方法的有效性。结果表明，所提出的控制策略能更有效地进行灵巧的SPS双手操作，减少仪器干扰，且无奇异性，从而提高SPS操作的安全性和效率。
Effective teleoperation of the small-scale and highly-integrated robots for single-port surgery (SPS) imposes unique control and human-robot interaction challenges. Traditional isometric teleoperation schemes mainly focus on end-to-end trajectory mapping, which is problematic when applied to SPS robotic control, especially for dual-arm coordinated operation. Inspired by the human arm configuration in boxing maneuvers, an optimized anthropomorphic coordinated control strategy based on a dual-step optimization approach is proposed. Theoretical derivation and solvability of the problem are addressed, and the effectiveness of the method is further demonstrated in detailed simulation and in-vitro experiments. The proposed control strategy has been shown to perform dexterous SPS bimanual manipulation more effectively, involving less instrument-interference and is free from singularities, thereby improving the safety and efficiency of SPS operations.