手术机器人弹性柔索驱动微器械精准位置控制与外力自主检测方法研究

This project focus on the problem that the cable-driven micromanipulator precise position control and force perception cannot be realized due to the lack of position and force feedback information. The key technologies such as precise position control and external force detection of cable-driven micromanipulator are studied by taking cable-driven micromanipulator prototype as the research object and taking theoretical analysis and experimental research as the means. Firstly, the driving mechanism of micromanipulator is explored, and the complete kinematics and dynamics modeling of the cable-driven micromanipulator system based on the motion/force decoupling model is studied. Then, designed the micromanipulator terminal position estimator and cables tension compensator, and then proposed a closed-loop feedback with feedforward compensation position precision control method for cable-driven micromanipulator based on position estimator and cables tension compensator to implement the cable-driven micromanipulator precise position control under the condition that the end of the micromanipulator can't install position sensor. Finally, an indirect external force detection method for cable-driven micromanipulator based on the dual position estimators model is proposed to accurately detect the external force without integrating force detection elements at the end of micromanipulator..The research results of this project will help promote the precision process of surgical robots and improve the efficiency and effect of surgical robot-assisted minimally invasive surgery.

本项目针对绳索驱动微器械缺乏位置和力反馈信息，而不能进行精准位置控制和力检测的问题，以绳索驱动微器械为研究对象，研究绳索驱动微器械的精准位置控制和外力检测方法等关键技术。首先，探究微器械驱动机理，研究基于运动/力解耦模型的绳索驱动微器械系统完整运动学和动力学建模问题；然后，设计微器械末端位置估计器和绳索张力补偿器，并基于位置估计器和张力补偿器提出闭环反馈加前馈补偿的微器械位置精准控制方法，在微器械末端无法安装位置传感器的情况下实现绳索驱动微器械的精准位置控制；最后，提出基于双位置估计器模型的绳索驱动微器械外力间接检测方法，在微器械末端无需集成力检测元件的情况下实现对微器械末端外力的精准检测。.本项目的研究成果将有助于推进外科手术机器人精准化进程，提高手术机器人辅助微创手术的和效率和效果。

本项目针对绳索驱动微器械缺乏位置和力反馈信息，而不能进行精准位置控制和力检测的问题，以绳索驱动微器械为研究对象，研究绳索驱动微器械的精准位置控制和外力检测方法等关键技术。.首先，探究微器械驱动机理，研究基于运动/力解耦模型的绳索驱动微器械系统完整运动学和动力学建模问题；然后，设计微器械末端位置估计器和绳索张力补偿器，并基于位置估计器和张力补偿器提出闭环反馈加前馈补偿的微器械位置精准控制方法，在微器械末端无法安装位置传感器的情况下实现绳索驱动微器械的精准位置控制；最后，提出基于双位置估计器模型的绳索驱动微器械外力间接检测方法，在微器械末端无需集成力检测元件的情况下实现对微器械末端外力的精准检测。.本项目的研究成果将有助于推进外科手术机器人精准化进程，提高手术机器人辅助微创手术的和效率和效果。.本项目最终可以实现关节转角的估计精度达到0.3度以内，实现对0.5N以下的外力实现感知，1N-5N的外力感知精度超过93%。

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