触觉共享控制框架与交互力约束基于控制屏障功能用于远程操作
Wenlei Qin1, Haoran Yi1, Zhibin Fan1
1State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin 150001, China.
Sensors (Basel, Switzerland)
|January 25, 2025
概括
这项研究引入了一个新的触觉共享控制框架,用于机器人视网膜手术. 它使用强力受约束的监督控制器来防止不安全的工具-组织相互作用,增强外科安全.
科学领域:
- 机器人和自动化机器人与自动化
- 眼科手术 眼科手术
- 控制系统工程 控制系统工程
背景情况:
- 视网膜外科手术的远程操作机器人系统缺乏对工具-组织相互作用力的精确控制,造成患者受伤的风险.
- 目前的系统可能无法充分防止外科医生错误导致微妙手术期间的不良结果.
研究的目的:
- 开发和评估一个触觉共享控制框架,以提高远程操作视网膜手术的安全性.
- 为了确保机器人辅助眼科手术期间的相互作用力保持在安全范围内.
- 通过触觉反增强外科医生的情境意识,减少错误判断.
主要方法:
- 使用控制障碍函数 (CBF) 和交互模型实现一个受力约束的监督控制器.
- 修改远程操作的输入,以保持在奴隶机器人的终端效应器上安全的相互作用力.
- 整合从主机器人到外科医生的触觉反.
主要成果:
- 模拟的膜剥离实验证明了框架在受控的眼内外科手术环境中的有效性.
- 拟议的控制框架显著降低了违反强制约束行为的比例.
- 操作远程操作系统的非专业用户从增强的安全功能中受益.
结论:
- 触觉共享控制框架通过限制相互作用力,有效提高了远程操作视网膜手术的安全性.
- 基于CBF的监管控制提供了一种可靠的方法来确保安全,而不需要机器人的动态模型.
- 触觉反提高了外科医生的表现,并减少了在微妙的眼科手术中出现错误的风险.
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