【摘要】 在腹腔镜手术过程中，手术机器人的振动或抖动会直接影响手术器械的定位精度，进而降低手术效果。同时，为提高伺服控制效率并减少手术时间，还需对手术机器人的运动轨迹进行优化处理。为提升手术机器人的运动精度与稳定性，对其关节空间进行了轨迹规划，采用3-5-3多项式插值法进行轨迹插值，确保轨迹在位置、速度和加速度上具备连续性。针对传统麻雀算法在寻优效果上的不足，进行了以下改进，首先引入二维Logistic混沌映射优化种群初始分布，改善算法的初始化条件；其次在跟随者更新过程中采用螺旋黏菌搜索策略，增强算法的全局探索能力；最后增加柯西-高斯变异策略，避免算法陷入局部最优解。基于改进后的麻雀算法，对3-5-3多项式插值轨迹进行时间最优轨迹规划。实验结果表明，所提出的手术机器人轨迹规划算法在性能提升方面具有可行性和有效性。更多还原

【Abstract】 During laparoscopic surgery, vibrations or tremors of the surgical robot directly affect the positioning accuracy of the instruments, thereby reducing surgical effectiveness. To improve servo-control efficiency and shorten operating time,it is also necessary to optimize the robot’s motion trajectory. To enhance motion precision and stability, trajectory planning was performed in the robot’s joint space using a 3-5-3 polynomial interpolation method, ensuring continuity in position,velocity, and acceleration. To overcome the shortcomings of the traditional Sparrow Search Algorithm(SSA) in optimization performance, several improvements were made: first, a two-dimensional Logistic chaotic map was introduced to optimize the initial population distribution, improving initialization conditions; second, a spiral slime-mold search strategy was employed during the follower update phase to strengthen global exploration; and finally, a Cauchy–Gaussian mutation strategy was added to prevent the algorithm from becoming trapped in local optima. Based on this improved SSA, timeoptimal trajectory planning was applied to the 3-5-3 polynomial-interpolated trajectory. Experimental results demonstrate the feasibility and effectiveness of the proposed trajectory planning algorithm in enhancing the performance of surgical robots.更多还原