基于力反馈的颅颌面骨科手术机器人协调控制

摘要

虚拟约束基于操作空间的正交分解,将末端执行器的位置和姿态空间分别分解为自由运动和受约束运动2部分,实现准确的预定义轨迹跟踪和灵活的器械姿态调整；医生借助力反馈获得可靠的临场感,依据自己的经验判断调整手术进度、施力大小,达到对手术操作的控制.%The concept of virtual fixtures is used to restrict motion of the robot manipulator according to pre - operatively defined trajectory and posture constraints. Orthogonal decomposition is used here to assign control of the manipulator to the surgeon and the robot seamlessly. Moreover, force - feedback technology is introduced to make the surgeon "feel" the cutting force during operation.