微创介入手术机器人推进机构驱动阻力的自适应控制研究

Research on Adaptive Control of Driving Resistance of Minimally Invasive Surgical Robot Propulsion Mechanism

由于机器人推进机构驱动中导管、导丝、支架结构对应坐标系统的多维性,导致操作臂关节间产生驱动阻力,增加导丝平移和递送精度误差,为此文章提出微创介入手术机器人推进机构驱动阻力自适应控制方法。将目标点的球面坐标转换为定子三相绕组坐标系,提高目标位置信息精确度。根据机器人推进机构驱动坐标的转换结果,补偿推进机构驱动的重力矩、惯性力矩和摩擦力矩。将补偿力矩作为控制目标,通过连续波脉冲器输出个体适应度搭建系统状态观测器,完成微创介入手术机器人推进机构等效阻力矩模型构建,实现微创介入手术机器人推进机构驱动阻力自适应控制。测试结果表明,文章方法导丝总平移误差为0.80 mm;关节正转和反转平稳;递送精度平均误差为0.20 mm。由此证明,文章方法能够提高微创介入手术机器人的反向驱动效果,并具有较好的稳定性。

Due to the drive resistance between the joints of the operating arm,and the increase in wire translation and delivery accuracy errors,caused by the multi-dimensional nature of the corresponding coordinate system of the catheter,guide wire and stent structure in the drive of the robot propulsion mechanism,the adaptive control method of the minimally invasive surgery is proposed.The spherical coordinates of the target point are converted into the stator three-phase winding coordinate system to improve the accuracy of the target position information.According to the conversion results of the robot propulsion mechanism drive coordinates,the heavy torque,inertia torque and friction torque of the propulsion mechanism drive are compensated.The compensation torque is taken as the control target,and the system state observer is built by the output of individual adaptation by the continuous wave pulse device to complete the construction of the equivalent torque model of the minimally invasive surgery robot propulsion mechanism,and realize the adaptive control of the minimally invasive surgery robot propulsion mechanism.The test results show that the total error of the guide wire is 0.80mm,and the average error of the delivery accuracy is 0.20mm.This paper proves that this method can improve the reverse driving effect of minimally invasive surgery robot,and it has good stability.