Self-adaption balance control system and method for flexible surgery operation supporting device

Abstract

The invention provides a self-adaption balance control system and method for a flexible surgery operation supporting device. The system comprises a pose measuring mechanism, a four-freedom-degree parallel connection mechanism and a control system, wherein the pose measuring mechanism is arranged on a platform carried by the flexible surgery operation supporting device and used for measuring a pose signal of the platform, the four-freedom-degree parallel connection mechanism comprises an upper platform, a lower platform, four driving branched chains and a driven branched chain connected between the two platforms, and the control mechanism obtains a position signal of the driving branched chain based on deviation of an ideal pose signal of the flexible surgery operation supporting device and a measured platform pose signal. The position signal is compared with a practically measured driving branched chain position signal, and movement of the driving branched chain is controlled based on the comparison result. The self-adaption balance control system and method for the flexible surgery operation supporting device can achieve all-around stability in real time, overcome influence transverse swinging, longitudinal swinging and heaving of a naval vessel body and keep stability of the flexible surgery operation supporting device. Feedback regulation intelligent control is adopted, stability is good, and execution efficiency is high.

Description

technical field [0001] The invention relates to the technical field of automatic control, in particular to the field of balance control of a surgical operating table, in particular to an adaptive balance control system and method for a motorized surgical operation support device. Background technique [0002] At present, the most commonly used method for the comprehensive balance system of a mobile operating table such as a ship-borne operating table is to use anti-rolling devices such as fin stabilizers and water tanks. This type of system is simple in structure, low in cost, easy to maintain, and its anti-rolling effect is not restricted by the speed of the ship. However, this type of anti-rolling device is mainly aimed at the hull, and is realized by using anti-rolling tanks and fins. Although it can be used to slow down the shaking of the hull, it cannot be used as a measure to reduce the shaking of the ship's operating table (cabin) . This is because the stabilizer fi...

AI Technical Summary

Problems solved by technology

Moreover, this type of anti-rolling device is usually only a limited-direction device, which can relieve vibration in one direction, such as up and down, but does not have the shock-absorbing effect of simultaneously completing roll, pitch and heave.

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