基于视觉导航的手术磨削工具的模糊控制实验研究

Experimental research on fuzzy control of visual navigation-based surgical grinding tools

针对微创外科手术中手工把持磨削工具操作精度不高的现状，引入了视觉定位计算机手术导航系统，通过加入动力控制器，利用模糊控制策略，实现精确闭环控制。设计了3组不同控制方式的手术磨肖!实验，并对实验中的误差进行了分析。结果表明，基于视觉导航的边界磨削精度可以达到0．3mm，比传统的手工操作提高了安全性和操作精度；模糊控制策略的引入使得磨削表面比普通控制方式更加平滑和精确。

Aiming at low-level grinding accuracy in traditional minimally invasive manual-control surgery, the authors of this paper designed a visual navigation-based computer surgical operation system, and implemented its accurate grinding control by adding a power control device to form a closed loop and using a novel fuzzy control based method to enhance the precision. Three groups of experiments on surgical and error analysis show that the system can achieve face is more smooth and precise because the fuzzy grinding using different control methods were performed. The resuhs the grinding accuracy of O. 3mm with the higher safety. Grinding surcontrol method was used.