多自由度绳驱微操作腕式夹爪的建模与力估计
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作者单位:

1.北方工业大学机械与材料工程学院;2.中国科学院自动化研究所多模态人工智能全国重点实验室

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TP242

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国家自然科学基金项目(面上项目,重点项目,重大项目)


Modeling and Force Estimation of Multi DOFs Rope-driven Micromanipulation Wrist Gripper
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1.School of Mechanical and Materials Engineering, North China University of Technology;2.State Key Laboratory of Multimodal Artificial Intelligence, Institute of Automation, Chinese Academy of Sciences

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    摘要:

    脑血管搭桥、脑组织解剖、神经吻合等软组织显微手术缺乏微力感知显微手术器械。为了拓展人手操作精度,本文设计了一种专为手术机器人使用的新型多自由度绳驱微操作腕式夹爪,旨在提高操作精度并增加操作过程中的接触力感知。该腕式夹爪通过丝杠驱动六根绳索实现微型化器械远端的灵巧运动。通过电机直接驱动丝杠的方式提高了绳索驱动精度,从而实现了远端腕式夹爪的操作精度和稳定性。此外,驱动绳索后端与丝杠之间设计有力传感器,实现对绳索张紧力的直接实时监测。基于绳索张紧力提出了对腕式夹爪接触力的计算模型,实现了腕式关节对外界接触力的感知测量。实验结果表明,开环控制下腕式夹爪运动跟踪误差均值<1°,力感知误差平均值≤50 mN。

    Abstract:

    Neurosurgical procedures like cerebral vascular bypass, brain tissue dissection, and neurorrhaphy often lack microsurgical instruments with delicate force perception. To enhance manual precision and tactile force perception during surgery, this paper introduces a novel multi DOFs rope-driven micromanipulation wrist gripper designed for surgical robots. This wrist gripper is powered by a screw drive controlling six ropes, facilitating dexterous movements at the distal end of miniature instruments. The high gear reduction ratio of the screw drive enhances driving precision, thereby achieving high operational accuracy and stability of the distal wrist gripper. Moreover, a force sensor is integrated between the ropes' rear end and the screw drive to monitor the tension in the ropes in real time. Based on the tension in the ropes, a computational model for estimating the contact force at the distal end of the wrist gripper is proposed, enabling the perception of external contact forces. Experimental results show that under open-loop control, the average motion tracking error of the wrist gripper is less than 1°, and the average force perception error is ≤50 mN.

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任晗,边桂彬,叶强,等. 多自由度绳驱微操作腕式夹爪的建模与力估计[J]. 科学技术与工程, , ():

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  • 收稿日期:2024-03-22
  • 最后修改日期:2024-05-01
  • 录用日期:2024-05-08
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