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首页> 外文期刊>Mechatronics, IEEE/ASME Transactions on >Hybrid Rate—Admittance Control With Force Reflection for Safe Teleoperated Surgery
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Hybrid Rate—Admittance Control With Force Reflection for Safe Teleoperated Surgery

机译：混合速率—带有力反射的导纳控制，用于安全的远程手术

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Teleoperated surgical systems have great potential to improve the performance of surgeons, and their use has spread worldwide in recent years. However, there are some issues that need to be resolved to make robotic surgery more reliable. For instance, the safety of current teleoperated surgical systems is dependent on the performance of the human operator, but human operators can sometimes commit errors. Therefore, a mechanism to ensure the safety of teleoperated surgery should be developed. This paper presents a hybrid system for rate control and admittance control for use in bilateral teleoperation. The proposed control system autonomously avoids excessive contact forces by switching between the rate control mode and the admittance control mode in a stable manner. The stability of the proposed control scheme was analyzed, and the system was found to be able to keep the contact force within an acceptable range. The performance of the proposed control scheme was verified through simulations and experiments. The results of the experiments and simulations showed that the proposed control scheme makes it possible to avoid excessive contact force in a stable manner.
机译：远距手术系统在改善外科医生的表现方面具有巨大潜力，近年来，其使用已遍及全球。但是，有一些问题需要解决，以使机器人手术更加可靠。例如，当前的远程手术系统的安全性取决于操作人员的性能，但是操作人员有时会犯错误。因此，应开发一种确保远距离手术安全的机制。本文提出了一种用于双边遥操作的速率控制和导纳控制的混合系统。所提出的控制系统通过以稳定的方式在速率控制模式和导纳控制模式之间切换来自动避免过多的接触力。分析了所提出的控制方案的稳定性，发现该系统能够将接触力保持在可接受的范围内。通过仿真和实验验证了所提出控制方案的性能。实验和仿真结果表明，所提出的控制方案可以稳定地避免过大的接触力。

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