机器人2016，Vol.38Issue(2)：217-224,8.DOI:10.13973/j.cnki.robot.2016.0217
基于力感知的结肠镜机器人柔顺控制
A Compliant Control of a Colonoscopy Robot Based on Force Sensing
摘要
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.关键词
结肠镜机器人/连续型机器人/力感知/柔顺控制Key words
colonoscopy robot/continuum robot/force sensing/compliant control分类
计算机与自动化引用本文复制引用
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[J].机器人,2016,38(2):217-224,8.基金项目
国家自然科学基金（61203349）． （）
