[1]夏胜男,邢宏军,杨海燕.面向微创手术的机械臂全位姿柔顺控制[J].机械与电子,2025,(10):34-41.
　XIA Shengnan,XING Hongjun,YANG Haiyan.Full Pose Compliance Control of Manipulators for Minimally Invasive Surgery[J].Machinery & Electronics,2025,(10):34-41.
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面向微创手术的机械臂全位姿柔顺控制()
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《机械与电子》[ISSN:1001-2257/CN:52-1052/TH]

卷:
期数:
2025年10期
页码:
34-41
栏目:
自动控制与检测
出版日期:
2025-10-25

文章信息/Info

Title:
Full Pose Compliance Control of Manipulators for Minimally Invasive Surgery
文章编号:
1001-2257 ( 2025 ) 10-0034-08
作者:
夏胜男 1 ; 邢宏军 2 ; 杨海燕 1
1. 南京大学医学院附属鼓楼医院神经内科,江苏 南京 210008 ;
2. 南京航空航天大学宇航空间机构全国重点实验室,江苏 南京 210016
Author(s):
XIA Shengnan1 ;  XING Hongjun2 ;  YANG Haiyan1
( 1.Department of Neurology , Nanjing Drum Tower Hospital , Nanjing University Medical School , Nanjing 210008 , China ;
2.National Key Laboratory of Aerospace Mechanism , Nanjing University of Aeronautics and Astronautics , Nanjing 210016 , China )
关键词:
微创手术; 机械臂; 末端力估计; 非线性扰动观测器; 全位姿柔顺
Keywords:
minimally invasive surgery ;  robotic manipulator ;  end-effector force estimation ;  nonlinear disturbance observer ;  full pose compliance control
分类号:
TP242
文献标志码:
A
摘要:
针对协作机械臂执行动物微创手术场景中面临的机械臂末端力估计及末端 对象刚性接触问题,提出一种基于扰动观测器的力/力矩估计方法,并设计了一种基于四元数的全位姿导纳控制方法。首先,提出了一种考虑基于非线性扰动观测器的末端力/力矩估计方法,结合机械臂动力学参数和对其关节力矩的实时测量,无需末端力传感器即可获得末端交互力。然后,设计了一种同时考虑平移和转动的全位姿柔顺控制方法,基于估计的末端力/力矩,可使机械臂末端受到外力时会顺应外力移动或转动。最后,搭建了包含腕部力/力矩传感器的七自由度机械臂实验平台,分别验证了所提出的末端力/力矩估计方法和全位姿柔顺控制方法的有效性,具有较高的工程实用价值。
Abstract:
To address the challenges of end-effector force estimation and rigid contact between the end-effector and objects in collaborative robotic arms performing minimally invasive animal surgeries , a disturbance observer based force / torque ( F / T ) estimation method is proposed , along with a quaternion based full-pose admittance control strategy.Firstly , we proposed an end-effector F / T estimation method based on a nonlinear disturbance observer.By integrating the robotic manipulator ’ s dynamic parameters with real-time joint torque measurements , the provided approach could estimate the end-effector interaction F / T without requiring a dedicated wrist F / T sensor.Then , a full pose compliance control method that considered both translation and rotation was developed , allowing the end effector to respond to external F / T by translating or rotating as needed.Finally , an experimental platform based on a 7-DOF manipulator equipped with a wrist F / T sensor was developed to validate the effectiveness of the proposed end effector F / T estimation method and full-pose compliance control strategy , demonstrating high engineering applicability.

参考文献/References:

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备注/Memo

备注/Memo:
收稿日期: 2025-05-20
基金项目:国家自然科学基金资助项目( 52405025 );江苏省自然科学基金资助项目( BK20230889 )
作者简介:夏胜男 ( 1993- ),女,安徽马鞍山人,硕士,研究实习员,研究方向为生物医学、人机交互;邢宏军 ( 1992- ),男,安徽马鞍山人,博士,副研究员,博士研究生导师,研究方向为机器人柔顺控制、机器人遥操作,通信作者, E-mail : xinghj@nuaa.edu.cn。
更新日期/Last Update: 2025-11-13