绞盘驱动型连续体手术机器人：设计、建模与感知

中文摘要 AI 辅助

形状与力感知长期以来是紧凑型绞盘驱动型连续体手术机器人研发的关键瓶颈，主要原因在于难以在狭窄的绞盘组件内获取线缆张力信息。为克服这些挑战，本文提出一种基于“驱动-感知协同设计”理念的集成设计-建模-感知方法：在驱动系统的电机安装支架中引入柔性元件，使其能在线缆反作用力下产生微变形，从而在不占用紧凑绞盘空间的前提下实现线缆张力的实时测量；针对空间线缆布线策略引入的非常规关节构型带来的建模复杂性，提出一种基于多刚体短厚梁模型的并行计算框架，该框架可捕捉短梁段的剪切效应与多线缆间的协同相互作用，同时达到实时性能；在此框架基础上，通过引入近端多轴力/力矩传感器作为额外测量锚点，实现稳定的形状与力感知。遵循该设计-建模-感知框架，研发了单段与双段构型的绞盘驱动型连续体手术机器人。实验结果在单段与双段连续体机器人上均验证了所提框架的有效性，可实现实时末端位姿估计，以及接触力与接触位置感知。该框架在不损害紧凑绞盘架构的前提下实现了线缆张力反馈，使绞盘驱动型连续体手术机器人的集成感知成为可能。

英文摘要

Shape and force sensing have long been critical bottlenecks in the development of compact capstan-driven continuum surgical robots, primarily due to the difficulty of obtaining cable tension information within the confined capstan assembly. To overcome these challenges, this paper presents an integrated design-modeling-sensing approach based on the concept of actuation-perception co-design. A compliant element is introduced into the motor mounting bracket of the drive system, enabling micro-deformation under the cable reaction force and thereby allowing real-time cable tension measurement without occupying the compact capstan space. To address the modeling complexity arising from unconventional joint configurations introduced by the spatial cable routing strategy, a parallel computation framework based on a multibody short-thick-beam model is proposed, which captures shear effects in short beam segments and synergistic multi-cable interactions while achieving real-time performance. Building on this framework, stable shape and force sensing is achieved by incorporating a proximal multi-axis force/torque sensor as an additional measurement anchor. Following this design-modeling-sensing framework, capstan-driven continuum surgical robots with single- and dual-segment configurations are developed. Experimental results validate the proposed framework in both single- and dual-segment continuum robots, demonstrating real-time tip pose estimation together with contact force and location perception. By enabling cable tension feedback without compromising the compact capstan architecture, the proposed framework makes integrated perception feasible for capstan-driven continuum surgical robots.

发表机构

• The Chinese University of Hong Kong（香港中文大学）
• School of Mechanical and Electronic Engineering, Wuhan University of Technology（武汉理工大学机电工程学院）
• Huazhong University of Science and Technology（华中科技大学）
• Shun Hing Institute of Advanced Engineering（信兴高等工程研究院）
• Multi-Scale Medical Robotics Center（多尺度医疗机器人中心）

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