华中科技大学学报（自然科学版）2025，Vol.53Issue(11)：42-48,7.DOI:10.13245/j.hust.251142
基于主从控制的力反馈消化内镜机器人系统
Force feedback digestive endoscope robot system based on master-slave control
摘要
Abstract
Aiming at the problems of the traditional endoscope operated by doctors in the treatment of gastrointestinal diseases through natural orifices,such as a long training period,high operational difficulty,susceptibility to fatigue,and occupational risks,and challenges faced by current endoscopic-assisted robots including difficulty in disinfection,complex control logic,and a lack of force feedback,a digestive endoscope robotic system with high usability and integrated force feedback functionality was designed and developed under the current medical conditions.This system integrated a traditional endoscope with a robotic control system through the design of a complete manipulation and delivery mechanism,without altering the existing endoscope structure,which could meet surgical conditions through standard disinfection and installation procedures.A Cartesian-space-based precise control strategy was proposed to improve operational accuracy.Based on the post-processing of force sensor data and the motor characteristic data,Gaussian process regression(GPR)was employed to analyze data features and predict the actual delivery force,achieving an initial force feedback capability.Animal experiments and analysis results show that the robotic system improves mucosal dissection accuracy by 32%while reducing the training time by 35.4%,proving the system's usability,accuracy and safety.关键词
自然腔道/胃肠疾病/医疗机器人/主从控制/力感知/力反馈Key words
natural orifice/gastrointestinal diseases/medical robot/master-slave control/force perception/force feedback分类
信息技术与安全科学引用本文复制引用
QIU Hao,HU Shihe,LIU Bingrong,FU Yili..基于主从控制的力反馈消化内镜机器人系统[J].华中科技大学学报（自然科学版）,2025,53(11):42-48,7.基金项目
浙江省尖兵研发攻关计划基金资助项目(2023C03010) （2023C03010）
国家自然科学基金资助项目(92048202) （92048202）
河南省重点研发专项(231111311600). （231111311600）
