Cooperative control of intelligent dual-arm shadowless lamp system
10.3969/j.issn.1005-202X.2024.05.011
- VernacularTitle:智能双臂无影灯系统的协同运动控制
- Author:
Shangjun LEI
1
;
Qiuju ZHANG
Author Information
1. 江南大学机械工程学院,江苏无锡 214222;江苏省食品先进制造装备与技术重点实验室,江苏无锡 214222
- Keywords:
operation shadowless lamp;
intelligent shadowless lamp system;
dual-arm robot;
cooperative control;
trajectory planning
- From:
Chinese Journal of Medical Physics
2024;41(5):600-609
- CountryChina
- Language:Chinese
-
Abstract:
For the current lighting system for operating room,the manual adjustment of lighting position to eliminate shadow caused by obstruction will lead to distraction of surgeons'attention and potential contamination of the sterile environment in the surgical area.To address this issue,an intelligent dual-arm shadowless lamp system is proposed.A serial-type 5-degree-of-freedom dual-arm robotic system is adopted to construct the lighting system,and a D-H mathematical model is established to solve the forward and inverse kinematics of the robotic arms.For the clinical lighting scenarios of cross-focused illumination and master-slave supplementary illumination,the corresponding constraint mechanisms and motion planning methods are proposed for dual-arm cooperative control.Finally,a simulation analysis on the algorithm for the cooperative control of the dual-arm shadowless lamp system is conducted in MATLAB environment.The research results show that the dual-arm cooperative control algorithm is feasible and performs well,and that the motion trajectories of both the end effectors and joints of the arms are smooth and continuous,demonstrating that the intelligent dual-arm shadowless lamp system can meet the lighting adjustment requirements during operation.
