Flexible needle planar puncture control device and method based on brain emotion learning intelligent control algorithm

Abstract

The invention provides a flexible needle plane puncture controlling device based on a brain emotion learning intelligent control algorithm and a method thereof. The flexible needle motion control is achieved using computer programs and the device. The device includes a feed motor for controlling the feed speed of a flexible needle and a rotary motor for controlling the rotation of a flexible needle tip, a sensor for acquiring the position and heading angle information of the flexible needle, and a computer for flexible needle motion control. The method of the invention is characterized in thata pre-planned path is subjected to discretization to obtain a target point set, and then the current target position of the flexible needle is compared to the next target point to obtain the positionerror, and the voltage of the feed motor is obtained by a designed brain emotion learning intelligent controller; and a rotating electric machine is controlled by the actual heading angle error. Thedevice simplifies a flexible needle model, has fewer control parameters and less calculation amount, realizes online real-time control and precise control, and can finally reach the target accurately.

Description

technical field [0001] The invention belongs to the technical field of control of medical instruments for minimally invasive surgery, and in particular relates to a planar motion control device and a motion control method of a medical flexible puncture needle. [0002] technical background [0003] Puncture has an important impact on medical treatment, diagnosis and scientific research, and is also considered to be the simplest and minimally invasive medical method. Modern computer technology, video imaging technology, and automatic control make it possible to have a puncture robot with accurate positioning, strong dexterity, stable state and high efficiency. Moreover, the flexible needle puncture robot has very important clinical applications in the fields of targeted injection, brachytherapy, anesthesia, ablation, early diagnosis and treatment of cancer, etc. [0004] However, because there are many tissues in the human body and the nervous and vascular systems are complex...

AI Technical Summary

Problems solved by technology

Second, due to the anisotropy of the tissue, the movement and deformation of the soft tissue, the individual differences of the patients, and the deep operation position when passing through several layers of tissue, there are large differences in the characteristics of the tissues, and it is difficult to ensure that the patient's position does not change during the operation.

However, the influence of tissue uncertainty on puncture path uncertainty is not considered

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