Leader-Follower Control Algorithm for Minimally Invasive Surgical Robot

doi:10.1007/s12204-025-2796-6

Abstract

Abstract: A multi-degree-of-freedom heterogeneous remote operating system is built to improve the smoothness of minimally invasive surgical robot trajectories. In order to solve the shaking problem of follower arm caused by low leader-follower mapping frequency, a timed sampling polynomial interpolation method is proposed. The leaderfollower consistent motion mapping under the geodetic coordinate system is established by using the homogeneous transformation matrices. The leader-follower motion control algorithm based on position and pose separation is designed, which includes relative motion control and absolute pose control algorithms. Furthermore, the remapping auxiliary function for leader-follower control is added, allowing for motion control of heterogeneous leader-follower system in different work spaces. Finally, multiple sets of experiments are conducted to validate the effectiveness of the aforementioned algorithms. The stability of the system is demonstrated through experiments involving collar and collar-slide setups.

Key words: leader-follower control, polynomial interpolation, robotic-assisted surgery

摘要： 为了提高微创手术机器人轨迹的平滑度，建立了多自由度异构远程操作系统。为解决主从映射频率低导致的追随者手臂抖动问题，提出了一种定时采样多项式插值方法。利用齐次坐标变换矩阵建立了大地坐标系下的主从一致性运动映射。设计了基于位置和姿态分离的主从运动控制算法，包括相对运动控制算法和绝对姿态控制算法。此外，还增加了主从控制的重映射辅助功能，允许在不同工作空间对异构主从系统进行运动控制。最后，进行了多组实验来验证上述算法的有效性。通过对套环和套环-滑杆实验，证明了系统的稳定性。

关键词: 主从控制，多项式插值，机器人辅助手术

CLC Number:

Li Mengwen, Lv Penghao, Liu Qiao, Dai Yu, Zhang Jianxun. Leader-Follower Control Algorithm for Minimally Invasive Surgical Robot[J]. J Shanghai Jiaotong Univ Sci, 2026, 31(1): 24-35.

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