基于力感知的结肠镜机器人柔顺控制
基于力感知的结肠镜机器人柔顺控制基于力感知的结肠镜机器人柔顺控制
冯笑笑, 胡海燕, 李龙委, 李伟达, 孙立宁
苏州大学机电工程学院苏州纳米科技协同创新中心, 江苏 苏州 215021
A Compliant Control of a Colonoscopy Robot Based on Force Sensing
FENG Xiaoxiao, HU Haiyan, LI Longwei, LI Weida, SUN Lining
Collaborative Innovation Center of Suzhou Nano Science and Technology, School of Mechanical and Electric Engineering, Soochow University, Suzhou 215021, China
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摘要 人体肠道具有相对浮动性，形状及位置不完全固定，为了提高结肠镜机器人进行内窥镜检查时的安全性以及可靠性，本文研究了一种基于力感知的结肠镜机器人柔顺控制方法．首先分析及设计了符合结肠镜机器人本体表面结构的压力传感器，然后基于肠道生物力学特性以及机器人关节耦合关系分析，提出其柔顺控制算法．最后，搭建机器人控制系统进行实验，验证该控制方法的可行性．实验结果表明，该柔顺控制方法可有效实现机器人对肠道壁接触压力的感知，使接触压力始终保持在阈值之内，提高了结肠镜机器人肠道检查过程中的安全性和可靠性．
关键词 ： 结肠镜机器人,连续型机器人,力感知,柔顺控制
Abstract：As the position and shape of human intestinal canal are unfixed for reason of the relative floating property of canal, a compliant control method for colonoscopy robots based on force sensing is proposed to improve the safety and reliability of the endoscopy. Firstly, the force sensor mounted on the colonoscopy robot is analyzed and designed according to the robot surface structure. Then, a compliant control algorithm is proposed based on the analyses on biomechanical characteristics of the intestinal canal and the coupling relationship between the robot joints. Finally, a robot control system is built to verify the feasibility of the algorithm by experiment. And experimental results show that the colonoscopy robot's ability to sense the contact pressure on intestinal canal is improved with the proposed method, which ensures the pressure value is within the threshold, and thus the security and reliability of the intestinal inspection are improved.
Key words： colonoscopy robot continuum robot force sensing compliant control
收稿日期: 2015-10-20
1:TP242
基金资助:国家自然科学基金（61203349）
通讯作者: 胡海燕，huhaiyan@suda.edu.cn E-mail: huhaiyan@suda.edu.cn
作者简介: 冯笑笑（1990-），女，硕士.研究领域：医疗机器人.
胡海燕（1983-），男，博士，副教授.研究领域：微小型与仿生机器人，医疗机器人，自动控制技术.
李龙委（1992-），男，硕士.研究领域：自动控制技术.
引用本文:
冯笑笑, 胡海燕, 李龙委, 李伟达, 孙立宁. 基于力感知的结肠镜机器人柔顺控制. 机器人, 2016, 38(2): 217-224.
FENG Xiaoxiao, HU Haiyan, LI Longwei, LI Weida, SUN Lining. A Compliant Control of a Colonoscopy Robot Based on Force Sensing. ROBOT, 2016, 38(2): 217-224.
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