Abstract
Background: The operation object of robot-assisted fracture reduction surgery is the musculoskeletal tissue with rigid-compliance coupling characteristics. It is necessary to improve the interactive compliance and safety between the reduction robot and the musculoskeletal tissue. Method: An adaptive variable impedance position/force tracking control strategy based on friction compensation is proposed. The stiffness of the reduction robot can be adaptively adjusted according to the contact force between the end-effector and the environment. The Stribeck friction force model of the branch chain electric cylinder is derived to improve the motion control performance. Results: The fracture reduction experiment is completed. The experimental results show that the adaptive variable impedance position/force control strategy can realize position and force tracking in fracture reduction. Conclusion: A safety control strategy is proposed and applied to robot-assisted fracture reduction surgery, which improves the coordination and compliance of the human-robot interaction between the reduction robot and the patient.
| Original language | English |
|---|---|
| Article number | e2469 |
| Journal | International Journal of Medical Robotics and Computer Assisted Surgery |
| Volume | 19 |
| Issue number | 2 |
| DOIs | |
| State | Published - Apr 2023 |
Keywords
- adaptive variable stiffness
- femoral shaft fracture
- impedance control
- reduction robot
Fingerprint
Dive into the research topics of 'Adaptive variable impedance position/force tracking control of fracture reduction robot'. Together they form a unique fingerprint.Cite this
- APA
- Author
- BIBTEX
- Harvard
- Standard
- RIS
- Vancouver