中文摘要：

描述了机器人辅助腹腔介入治疗中的于术规划模型和虚拟夹具（VF）方法，研究了引导型和障碍型两类虚拟夹具的空间运动约束生成方法以及基十导纳控制的综合拎制策略．通过建立引力势场和参考方向实现了对控制对象的引导，通过建立斥力势场实现了空间避障（如腹腔内血管及肋骨），从而为手术器械的运动及定位提供了有效的辅助作用．VF的刚度系数可以调节空间运动约束的苛刻程度．单个VF和腹腔3维空间中多个VF的仿真实验验证了空间运动约束和控制算法的有效性．本文的方法适用十类似的遥操作和人机协作系统．

英文摘要：

This paper describes the surgical planning model and the virtual fixture （VF） approach to the robot-assisted celiac interventional therapy. We introduce the spatial motion constraint generation method for two categories of VFs, i.e. guidance VF and forbidden-region VF, as well as an integrated admittance control strategy. The controlled object is guided by the attractive potential field and reference direction, and avoids the obstacles, i.e., ribs and intraperitoneal vessels, by the repulsive potential field, in order to assist the motion and localization of the interventional instrument. The stiffness of a virtual fixture can be used to adjust the degree of rigorousness of the spatial motion constraint. Simulations of a single VF and multiple VFs in the celiac 3-D environment are executed to verify the effectiveness of spatial motion constraints and control algorithms. The proposed approach is applicable to some similar teleoperation and human-machine collaboration systems.