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Adaptive variable impedance position/force tracking control of fracture reduction robot.
Gongliang Zheng1, Jingtao Lei1, Lei Hu2
1School of Mechatronic Engineering and Automation, Shanghai University, Shanghai, China.
Summary
This study introduces an adaptive control strategy for robot-assisted fracture reduction, enhancing safety and precision. The new method improves human-robot interaction during complex orthopedic procedures.
Area of Science:
- Robotics in Surgery
- Orthopedic Surgery
- Biomechanics
Background:
- Musculoskeletal tissues present unique rigid-compliance coupling challenges in robot-assisted fracture reduction.
- Enhancing interactive compliance and safety is crucial for effective robot-assisted orthopedic procedures.
Purpose of the Study:
- To develop and validate an advanced control strategy for robot-assisted fracture reduction.
- To improve the safety and coordination of the reduction robot during surgical interventions.
Main Methods:
- An adaptive variable impedance position/force tracking control strategy with friction compensation was proposed.
- The Stribeck friction force model was derived for branch chain electric cylinders to optimize motion control.
- Robot stiffness was adaptively adjusted based on end-effector contact forces.
Main Results:
- Successful completion of fracture reduction experiments.
- Demonstrated ability of the adaptive variable impedance control strategy to achieve precise position and force tracking.
- Validation of the proposed strategy in a simulated fracture reduction scenario.
Conclusions:
- The developed safety control strategy enhances coordination and compliance in human-robot interaction.
- The strategy improves the overall safety and effectiveness of robot-assisted fracture reduction surgery.
- This approach offers a significant advancement in robotic orthopedic surgery.
