中国医疗设备2025，Vol.40Issue(7)：1-5,9,6.DOI:10.3969/j.issn.1674-1633.20242010
医用手术机器人急停后末端位移评价研究
Research on the Evaluation of Terminal Displacement After Emergency Stop in Medical Surgical Robots
摘要
Abstract
Objective To explore the risks and causes of terminal displacement control after emergency stop of medical surgical robots,design test methods,conduct actual tests,analyze the influencing factors of terminal displacement after emergency stop based on the results,and clarify the measurement conditions of this index.Methods The emergency stop signal of the robotic arm was elicited,and the spatial coordinates of the reference point at the end of the robotic arm were collected continuously and quickly by the non-contact space measurement device when the emergency stop was pressed.The influence of static or moving along different vector directions at different speeds on the end displacement after emergency stop was analyzed under different emergency stop control modes,and the influence of these parameters on the test results was compared and analyzed by one-way ANOVA.Results Through the experiments designed in this paper,it was found that the initial and final displacement of the emergency stop and the maximum displacement of the emergency stop of the robotic arm were significantly different,and the difference could be 0.49-1.61 mm in different vector directions and 0.18-0.57 mm at different speeds.For some models of robotic arms,the difference in emergency stop control modes could cause a displacement difference of more than 10 mm.At the same time,the posture during emergency stop also had a certain degree of influence on the displacement at the end of the robotic arm after emergency stop.Conclusion This paper designs a scientific and effective testing method,which can test the maximum displacement at the end and the initial and final displacement of medical surgical robots after emergency stop.When conducting tests,the influence of running speed,emergency stop control methods and the posture during emergency stops on the results should be fully considered.关键词
医用手术机器人/急停后末端位移/轨迹跟踪/运动分析/达芬奇手术机器人Key words
medical surgical robots/emergency stop terminal displacement/trajectory tracking/motion analysis/Da Vinci surgical robot分类
医药卫生引用本文复制引用
杨辰旭,李澍,王浩,孟祥峰..医用手术机器人急停后末端位移评价研究[J].中国医疗设备,2025,40(7):1-5,9,6.基金项目
国家重点研发计划(2022YFC2409604). （2022YFC2409604）
