交互环境下基于视觉的柔性手术机器人控制研究

柔性手术机器人相比于刚性手术机器人具有高灵活性、运动范围广的特点，逐渐成为手术机器人的研究热点。然而其复杂结构特性和体内交互环境下的约束条件使得传统的建模和控制算法存在很大误差，限制了其应用。本项目针对当前柔性手术机器人在体内与软组织交互环境中自主智能作业的重点难点问题，开展基于建模-感知-控制框架的系统研究，研发面向手术任务的自主控制算法。项目拟考虑体内交互约束环境影响，构建精确系统运动学和动力学模型；结合智能感知技术，实现实时复杂形状、接触力反馈，保证崎岖路径的甬道环境中交互任务的顺利进行；针对不同作业任务，研发复杂受限环境中与目标软组织的交互控制算法，最后通过临床试验验证其实用性及有效性。项目的顺利完成将推动柔性手术机器人视觉伺服的技术发展，推广其在诸如医疗手术等需要高精度控制的领域中应用，对提高柔性手术机器人的智能化水平具有科学意义。

Flexible surgical robots have gradually become research hotspots of surgical robots due to their advantages of flexible maneuverability and wide range of motion in surgical tasks. However, its complicated structure and constraints in the interaction with the environment in vivo make the traditional modeling and control algorithms have large errors, which limits their applications. This project aims at the critical and difficult tasks of autonomous operation of the flexible surgical robot in the interaction between the body and soft tissues. It conducts systematic research based on the modeling-sensing-control framework and develops autonomous control algorithms for surgical tasks. The project intends to take into account the environmental impacts of in-vivo interactions and construct accurate system kinematics and dynamics models; in combination with intelligent sensing technology, real-time feedback of complex shape and contact force is implemented to ensure the execution of interactive tasks in the rugged path of the martial environment; for different tasks, we develop an interactive control algorithm with the soft tissue in a complex and constrained environment, and finally verify its practicability and effectiveness through clinical trials. The successful completion of the project will promote the development of visual servo for flexible surgical robots, and promote its application in areas requiring high-precision control such as medical surgery, which has scientific significance for improving the intelligent level of flexible surgical robots.