Compliance control system for puncture surgical robot

Abstract

The invention relates to a compliance control system for a puncture surgical robot. The system includes a PD control module based on a differential controller, an impedance control position model building module and a force feedback control module; the PD control module is used for suppressing measurement noise and tracking an original signal; the impedance control position model building module is used for establishing a dynamic motion model of a robot control cycle; and the force feedback control module follows an operator to realize zero-force follow-up control, that is, the total force ofexternal force received by a mechanical arm joint is 0. The system realizes the real-time tracking effect of a human body model through the improved PD control module based on the differential controller, not only can well suppress the measurement noise, but also can track the original signal without overshoot, and has high practicability and high efficiency, and through the impedance control position model building module, an internal position controller is used to track the position of an ideal impedance model, so that the algorithm complexity is reduced, and the real-time performance is improved.

Description

technical field [0001] The invention relates to the field of puncture surgery robots, in particular to a compliance control system for a puncture surgery robot. Background technique [0002] Compliant control (follow-up control) refers to the robot's ability to obey the external environment, and large-scale compliant control refers to its ability to achieve compliant motion in all configurations it can reach. The operator visually determines the position of the end effector of the robot, compares it with the expected target point in the brain and obtains the corresponding position deviation, and then uses the arm to exert force on the end effector of the robot, through the arm mounted on the robot wrist. The force sensor obtains the external force and feeds it back to the controller, so that the robot can follow the operator's will to move in real time. In the current operation process, the requirements for surgical precision are getting higher and higher, and the conventio...

AI Technical Summary

Problems solved by technology

In the current operation process, the requirements for surgical precision are getting higher and higher, and the conventional naked eye surgery can no longer meet the difficult surgery. Therefore, there is an urgent need for a puncture surgery robot compliance control system device with high working precision, stable work and high efficiency.

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