A Compliance Control Strategy for Adapting to Body Movements during a Percutaneous Surgery

摘要

Currently, robots have been used in percutaneous puncture surgery to solve the problems of low precision and heavy workload. However, there is a problem in robotic-assisted puncture surgery that the operative region may move relative to the rigid robot, especially in lung surgery, which may aggravate the patient's trauma. Thus, in this paper, we design a compliance control strategy for adapting to body movements. Taking advantage of a six-dimensional force sensor and the gravity compensation strategy, the compliance control strategy based on impedance control can control the contact force between the patient and the puncture needle to a small range. To cooperate with this control strategy, we also develop a percutaneous puncture surgery robot with high positioning accuracy, ample working space, and good operationality. The effectiveness of this strategy was validated in a simplified scenario of lung puncture surgery, where the puncture needle could track the movement of the lung organ model with relative displacement less than 2mm, the contact force less than 1.2N, the contact torque less than 0.3N*m.