Computer Engineering and Applications ›› 2018, Vol. 54 ›› Issue (1): 235-239.DOI: 10.3778/j.issn.1002-8331.1606-0411

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Design of master-slave control system with vibration suppression for minimally invasive surgical robot

YANG Chenghao1, SANG Hongqiang1,2, LIU Fen1, YUN Jintian1, CHEN Fa1   

  1. 1.School of Mechanical Engineering, Tianjin Polytechnic University, Tianjin 300387, China
    2.Tianjin Key Laboratory of Advanced Mechatronic Equipment Technology, Tianjin 300387, China
  • Online:2018-01-01 Published:2018-01-15


杨铖浩1,桑宏强1,2,刘  芬1,贠今天1,陈  发1   

  1. 1.天津工业大学 机械工程学院,天津 300387
    2.天津市现代机电装备技术重点实验室,天津 300387

Abstract: A master-slave control system of the minimally invasive surgical robot is proposed for vibration suppression. The new Zero-Phase Filter(ZPF) and the Feed Forward PD(FFPD) algorithm are proposed, which aims to alleviate the physiological hand tremor and the “stick slip”behavior of salve manipulator, respectively. The new ZPF avoids the time delay which the traditional PD controller causes as well as the problem that conventional zero-phase filter cannot be used online, while the FFPD controller overcomes the disadvantage that the nonlinear friction torque exerts a negative effect on the performance of salve manipulator. Finally, simulations and experiments show that the method can effectively suppress the vibration phenomenon at the tip of surgical instrument.

Key words: minimally invasive surgical robot, kinematics, master-slave control system, zero-phase filter, friction compensation

摘要: 详述了一种用于抑制微创手术机器人震颤现象的主从控制系统,提出了针对人手生理震颤的新型零相位滤波方法及针对从操作臂关节“粘滑行为”的前馈补偿PD伺服算法。新型零相位滤波避免了传统低通滤波器容易造成延时和传统零相位滤波无法在线使用的缺点,前馈补偿PD伺服算法通过摩擦补偿克服了非线性摩擦对从操作臂运动造成的影响。最后,对系统进行仿真及实验,结果表明该方法能有效地抑制机器人手术工具末端的震颤现象。

关键词: 微创手术机器人, 运动学, 主从控制系统, 零相位滤波, 摩擦补偿