机器人连续性接触状态估计与软组织异常识别方法

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中图分类号：TP242 文献标志码：ADOI： 10.12475/aie.20250504

文章编号：1674-2605（2025）05-0004-08开放获取

A Method for Robotic Continuous Contact State Estimation and Soft Tissue Abnormality Identification

ZHENG Haochen1，2 LIU Chengpei1ZHAI Xueqian² WU Hongmin2 （1.School ofRail Transportation，WuyiUniversity， Jiangmen529o20，China 2.Institute of Intelligent Manufacturing， Guangdong Academy of Sciences/ Guangdong Key Laboratory of Modern Control Technology， Guangzhou 51oo70， China）

Abstract：Aimingatthe problemsofdificult deformation prediction，unknown contact atributes，discontinuous dyamic models，andlowuracyiboalisseidentificatiurigbotsofttueiteractio，metodforobotoiuouact stateestimationndsofttisseabnormalityidentificationisproposed.ThecontacttiffessispredictedbycombiingaEtended KalmanFilter withsemi-implicit integrationThe Hertzcontact modelandtheCoulombfriction modelareutilized toperceivethe normal contact forceandthecontact fritionforce，respectively.Anadmitancecontrolmodel incorporatingerorfedback is constructed toensureinteractionstability，therebyeablingefectiveidentificationofabnormaltisses.Theeffectivenesand robustnessofteproposedmethodwerevalidatedthroughexperimentsonidentifyingabnomalities insilicone-basedsofttisusand ex vivo porcine liver tissues.

KeyWords： state estimation;abnormality identification;admitance control; contact stiffess; Hertzcontact model; Coulomb friction model

0 引言

在医学领域，软组织异常识别对疾病的早期诊断和精准治疗至关重要[1-3]，尤其在肿瘤等异常组织识别过程中，准确区分正常软组织与病变组织是提升诊疗效果的关键[4]。（剩余10090字）