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首页> 外文期刊>Smart Materials & Structures >Design of a 4-DOF MR haptic master for application to robot surgery: virtual environment work
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Design of a 4-DOF MR haptic master for application to robot surgery: virtual environment work

机译：设计用于机器人手术的4自由度MR触觉主机：虚拟环境工作

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摘要

This paper presents the design and control performance of a novel type of 4-degrees-of-freedom (4-DOF) haptic master in cyberspace for a robot-assisted minimally invasive surgery (RMIS) application. By using a controllable magnetorheological (MR) fluid, the proposed haptic master can have a feedback function for a surgical robot. Due to the difficulty in utilizing real human organs in the experiment, the cyberspace that features the virtual object is constructed to evaluate the performance of the haptic master. In order to realize the cyberspace, a volumetric deformable object is represented by a shape-retaining chain-linked (S-chain) model, which is a fast volumetric model and is suitable for real-time applications. In the haptic architecture for an RMIS application, the desired torque and position induced from the virtual object of the cyberspace and the haptic master of real space are transferred to each other. In order to validate the superiority of the proposed master and volumetric model, a tracking control experiment is implemented with a nonhomogenous volumetric cubic object to demonstrate that the proposed model can be utilized in real-time haptic rendering architecture. A proportional-integralderivative (PID) controller is then designed and empirically implemented to accomplish the desired torque trajectories. It has been verified from the experiment that tracking the control performance for torque trajectories from a virtual slave can be successfully achieved.
机译：本文介绍了一种新型的4自由度（4-DOF）触觉主机在网络空间中用于机器人辅助微创手术（RMIS）应用的设计和控制性能。通过使用可控的磁流变（MR）流体，拟议的触觉主机可以为外科手术机器人提供反馈功能。由于在实验中难以利用真实的人体器官，因此构建了具有虚拟对象特征的网络空间来评估触觉主控器的性能。为了实现网络空间，用形状保持链（S-chain）模型来表示体积可变形对象，该模型是快速的体积模型，适合于实时应用。在用于RMIS应用程序的触觉体系结构中，从网络空间的虚拟对象和实际空间的触觉主机产生的所需扭矩和位置相互传递。为了验证所提出的主模型和体积模型的优越性，对非均质体积立方对象进行了跟踪控制实验，以证明所提出的模型可以用于实时触觉渲染架构中。然后设计比例积分微分（PID）控制器，并根据经验实施该控制器，以实现所需的转矩轨迹。从实验中已经证实，可以成功地实现从虚拟从机跟踪转矩轨迹的控制性能。

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