An Intelligent Path Tracking Method for Flexible Needles Based on Second-Order Sliding Mode Algorithm
A path tracking, second-order sliding mode technology, applied in the field of intelligent medical care, can solve the problems of strong chattering, effect influence, and inability to continuously control the sliding mode controller, and achieve the effect of accurate control effect and wide application field.
Active Publication Date: 2021-01-22
BEIHANG UNIV
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Problems solved by technology
However, the sliding mode controller will produce strong chattering when the state changes, and cannot continuously control when changing the structure, which will reduce the stability and accuracy of the medical device, and affect the effect of biopsy and treatment
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[0047] specific implementation plan
[0048] The present invention will be further described in detail with reference to the accompanying drawings and embodiments.
[0049] The principle of the present invention for the flexible needle intelligent path planning system is as follows: figure 2 As shown, first, the kinematics model of the flexible needle is established; the observation of the coordinates in the actual movement of the needle tip and the corresponding position coordinates of the needle tip’s trajectory under ideal conditions are input into the tracking evaluation system, and the evaluation index e of the flexible needle path tracking is constructed; During the running process, in order to maintain the evaluation index within the appropriate range, the sliding mode surface is constructed through the evaluation index, and the second-order sliding mode control algorithm is designed to eliminate system chattering and increase the robustness and stability of the system...
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The invention discloses a flexible needle intelligent path tracking method based on a second-order sliding model algorithm, and belongs to the field of the intelligent healthcare. The method comprisesthe following steps: establishing a kinematics model between a flexible needle point and a target according to physical characteristics in the feeding process of the flexible needle medical device; under the known working condition of a working route, establishing a two-dimensional pole coordinate of the flexible needle under a needle hole coordinate system through the kinematics model; making difference between a coordinate value of the flexible needle under an ideal route coordinate system and the coordinate value under a known working route coordinate system so as to construct a tracking evaluation index e based on the coordinate error; inputting the tracking evaluation index e into a second-order sliding mode control system, performing intelligent control and optimization on the tracking evaluation index through a controller, thereby enabling the error of the flexible needle tracking to be minimum. The trajectory tracking of the flexible needle medical device is accomplished by utilizing the second-order sliding mode control algorithm, the control effect is more precise, and the applicable field is more extensive.
Description
technical field [0001] The invention belongs to the field of intelligent medical treatment, and relates to an intelligent path tracking method for flexible needles based on a second-order sliding mode algorithm. Background technique [0002] In recent years, with the continuous development of medical devices, the field of intelligent medical treatment has received great attention from all aspects. As a new type of medical device, flexible needles have become an important part of many medical robots due to their high flexibility and wide applicability. At the same time, they have attracted many research institutions to conduct in-depth research in this field. [0003] The flexible needle can regularly change the movement trajectory in the soft tissue of the human body, and can bypass important nerves and visceral tissues in the human body for drug injection and biopsy in the target area, which is very convenient to use. And the essence of the flexible needle is a flexible ma...
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IPC IPC(8): G05B13/04
Inventor 张辉陈建成陶斯友
Owner BEIHANG UNIV