Virtual surgery hybrid control system and verification method thereof
A hybrid control and virtual surgery technology, applied in general control systems, control/regulation systems, simulators, etc., can solve problems such as affecting system performance, reducing system transparency, and less research on the impact of controller discretization
Active Publication Date: 2017-09-15
XUZHOU MEDICAL UNIV
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Problems solved by technology
[0003] At present, the research on the simulation control system of virtual tactile surgery mainly focuses on shortening the communication delay, ensuring the passiveness of the terminal and optimizing the simulation model algorithm, etc., but there are few studies on the impact of the discretization of the controller.
Discretized controllers will limit the upper limit of control gain, reduce system transparency, and affect system performance
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[0026] The present invention will be further described below.
[0027] The virtual surgery hybrid control system of the present invention includes a virtual tactile surgery simulation control system and an analog controller carried by FPAA, and the analog controller is connected in parallel at both ends of the digital controller in the virtual tactile surgery simulation control system. By connecting the FPAA analog control and digital control parts in parallel, there are both analog and digital damping items and differential items in the system, so as to compensate for the limitation of digital damping on control gain and increase the upper limit of control gain. Under the premise of stability , improving the transparency of the system. It can not only simulate the real-time feedback of soft tissue touch, but also perceive the credible tactile feedback of rigidity, and can complete various types of surgical training and simulation tasks.
[0028] A verification method for a v...
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A virtual surgery hybrid control system and a verification method thereof are provided. The system comprises a virtual tactile surgery simulation control system and an analog controller carried by an FPAA (Field Programmable Analog Array). The analog controller is connected in parallel to the two ends of a digital controller in the virtual tactile surgery simulation control system. The verification method comprises the following steps: modeling a parallel hybrid control system; studying the stability criterion of the hybrid control system; measuring the stability range of the system according to the stability criterion; making a quantitative experimental analysis of the force tracking error and pose tracking error of the system; and carrying out qualitative experimental detection on the success rate of tasks. The control gain of the system can be improved on the premise that the stability is guaranteed. Real soft tissue touch real-time feedback can be simulated, and credible rigid tactile feedback can be perceived. A variety of surgery training and simulating tasks can be completed. Through the verification method, the stability and reliability of the hybrid control system can be verified easily.
Description
technical field [0001] The invention relates to a bilateral teleoperation system, in particular to a virtual operation hybrid control system and a verification method thereof. Background technique [0002] The virtual tactile surgery simulation system can be used for preoperative planning and doctor training to help doctors become familiar with the surgical operation process and learn operating skills. While reducing the damage to patients caused by unskilled surgical operations, the reusable interface also saves training costs. Among them, the control system determines and monitors the system behavior, and it is the brain of the entire simulation system. Therefore, how to improve the performance of the control system while ensuring the stability and transparency of the system is very necessary. [0003] At present, the research on the simulation control system of virtual haptic surgery mainly focuses on shortening the communication delay, ensuring the terminal passive and o...
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CPCG05B17/02
Inventor 杨婷付宜利胡俊峰耿伟朴雪刘莘
Owner XUZHOU MEDICAL UNIV