[1]王宏民,杨晨阳,叶子露,等.椎管穿刺手术机器人自适应导纳控制算法研究[J].机械与电子,2025,(01):53-57.
　WANG Hongmin,YANG Chenyang,YE Zilu,et al.Research on Adaptive Admittance Control Algorithm for Spinal Puncture Surgical Robot[J].Machinery & Electronics,2025,(01):53-57.
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椎管穿刺手术机器人自适应导纳控制算法研究()
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《机械与电子》[ISSN:1001-2257/CN:52-1052/TH]

卷:
期数:
2025年01期
页码:
53-57
栏目:
智能制造
出版日期:
2025-01-30

文章信息/Info

Title:
Research on Adaptive Admittance Control Algorithm for Spinal Puncture Surgical Robot
文章编号:
1001-2257 ( 2025 ) 01-0053-05
作者:
王宏民 1 ; 杨晨阳 1 ; 叶子露 1 ; 王松柏 2
1. 五邑大学机械与自动化工程学院,广东 江门 529020 ;
2. 江门市妇幼保健院,广东 江门 529030
Author(s):
WANG Hongmin1 ;  YANG Chenyang1 ;  YE Zilu1 ;  WANG Songbai2
( 1.School of Mechanical and Automation Engineering , Wuyi University , Jiangmen 529020 , China ;
2.Jiangmen Maternity and Child Health Care Hospital , Jiangmen 529030 , China )
关键词:
椎管穿刺; 力跟踪; 导纳控制
Keywords:
spinal puncture ;  force tracking ;  admittance control
分类号:
TP242
文献标志码:
A
摘要:
为解决传统的椎管穿刺手术存在主观不确定性,影响手术成功率的问题,首先在椎管穿刺手术过程中对不同组织特性的实时弹性系数进行估计,并提出一种基于力跟踪误差与组织弹性系数实时调整的自适应导纳力控制算法。同时,利用李雅普诺夫稳定性理论证明了该算法的收敛性。实验结果表明,所提出的控制算法在椎管穿刺实验平台上能够实现不同组织下的机器人接触力快速调节与跟踪,有效控制力控误差,证明了该算法的有效性与可行性。
Abstract:
In order to solve the problem that the subjective uncertainty of traditional spinal puncture surgery affects the success rate of surgery , this paper first estimated the real-time elastic coefficient of different tissue characteristics during spinal puncture surgery , and proposed an adaptive admittance control algorithm based on force tracking error and real-time adjustment of tissue elastic coefficient.At the same time , the convergence of the algorithm was proved by Lyapunov stability theory.The experimental results show that the proposed control algorithm can realize the rapid adjustment and tracking of robot contact force under different tissues on the spinal puncture experimental platform , and effectively control the force control error , which proves the effectiveness and feasibility of the algorithm.

参考文献/References:

[ 1 ] DUMAREY N E , MASSAGER N , LAUREYS S , et al. Voxel-based assessment of spinal tap test-induced regional cerebral blood flow changes in normal pressure hydrocephalus [ J ] .Nuclear medicine communications , 2005 , 26 ( 9 ): 757-763.

[ 2 ] 芮喜田,吴魏霞 . 腰椎穿刺术失败原因及对策分析[ J ] .社区医学杂志,2010 , 8 ( 11 ): 77-78.
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[ 4 ] 朴明波,付宜利,王树国 . 外科辅助手术机器人的发展及关键 技 术 分 析 [ J ] . 机 械 设 计 与 制 造, 2008 ( 7 ):174-176.
[ 5 ] LI H B , NIE X , DUAN D , et al.An admittance ‐ controlled amplified force tracking scheme for collaborative lumbar puncture surgical robot system [ J ] .The international journal of medical robotics and computer assisted surgery , 2022 , 18 ( 5 ): e2428.
[ 6 ] ZHENG G L , LEI J T , HU L , et al.Adaptive variable impedance position / force tracking control of fracture reduction robot [ J ] .The international journal of medical robotics and computer assisted surgery , 2023 , 19 ( 2 ): e2469.
[ 7 ] XIA G M , JIANG Z F , DAI Y.Pedicle drilling force control of a robotic surgical system via spine-soft tissue coupling model and parameters optimization [ J ] . Computers in biology and medicine , 2024 , 169 : 107710.
[ 8 ] LI H B , WANG Y Y , LI Y L , et al.A novel manipulator with needle insertion forces feedback for robot ‐ assisted lumbar puncture [ J ] .The international journal of medical robotics and computer assisted surgery , 2021 , 17 ( 2 ): e2226.
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备注/Memo

备注/Memo:
收稿日期: 2024-08-29
基金项目:五邑大学港澳联合基金资助项目( 2021WGALH18 )
作者简介:王宏民 ( 1978- ),男,黑龙江哈尔滨人,博士,教授,研究方向为医疗机器人。
更新日期/Last Update: 2025-03-06