描述了机器人辅助腹腔介入治疗中的手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于导纳控制的综合控制策略。

In this method, the virtual fixtures(VF) is used to assist task planning at the operator′s side and the impedance control is used, which is robust against the model errors at the slave robot side.

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