手术机器臂前端控制器双重滤波的噪声抑制

Noise Suppression of Double Filter in Front-end Controller of Surgical Robot Arm

医生在机械臂的辅助下手术时常会因为末端抖动而导致手术不稳定。小波滤波和自适应滤波相结合的方式对前端控制器信号进行滤波,由于自适应滤波器具有可以实时滤波的特性,采用自适应滤波器对含有不同方差的高斯白噪声的正弦信号模拟的信号进行滤波,均方根误差和误差率作为评价标准。实验结果表明,使用小波滤波预滤波后的信号通过自适应滤波可以实时有效地滤除前端控制器中的噪声,对噪声信号进行抑制。

When the doctor eats with the assistance of the robotic arm,the end shakes and the eating becomes unstable.The wavelet filter and adaptive filter are combined to filter the front-end controller signal.Because the adaptive filter has the characteristics of real-time filtering,the adaptive filter simulate the signal of the sinusoidal signal with Gaussian white noise with different variances.After filtering,the root mean square error and error rate are used as evaluation criteria.The experimental results show that the signal pre-filtered by wavelet filtering can effectively filter the noise in the front-end controller in real time and suppress the noise signal through adaptive filtering.