Academic Journal of Engineering and Technology Science, 2023, 6(3); doi: 10.25236/AJETS.2023.060307.
Yu Xin, Chaorui Zhou
Century College, Beijing University of Posts and Telecommunications, Beijing, 102100, China
The safety strategy of the virtual fixtures surgical robot based on the impedance conductance control technology is proposed for the safety problems caused by the doctor's misoperation during the human-machine co-surgery. In this paper, the virtual fixtures technology is applied to the surgical operation process of human-machine co-surgery in combination with the conductance control method. Based on the good position accuracy control ability of the robot conductance control, the human-machine co-surgical motion of the doctor is restricted to the range allowed by the virtual fixtures planning, Finally the simulation results show that, the safety strategy of surgical robot based on virtual fixtures can reduce the error of the surgical robot and ensure the safety of the robotic surgical operation.
impedance admittance control, virtual fixtures, surgical robot, human-machine collaboration
Yu Xin, Chaorui Zhou. Research on safety strategy of surgical robot based on virtual fixtures. Academic Journal of Engineering and Technology Science (2023) Vol. 6, Issue 3: 38-42. https://doi.org/10.25236/AJETS.2023.060307.
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