Master-slave surgical robot trajectory prediction control method

A surgical robot and trajectory prediction technology, applied in surgical manipulators, surgical robots, design optimization/simulation, etc., can solve the problems of delay and low precision at the end of master-slave surgical robots

Pending Publication Date: 2021-02-26
XI'AN POLYTECHNIC UNIVERSITY
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Problems solved by technology

[0004] The purpose of the present invention is to provide a trajectory prediction control method of a master-slave

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  • Master-slave surgical robot trajectory prediction control method
  • Master-slave surgical robot trajectory prediction control method
  • Master-slave surgical robot trajectory prediction control method

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Embodiment Construction

[0137] The present invention will be described in detail below in conjunction with the accompanying drawings and specific embodiments.

[0138] A master-slave surgical robot trajectory prediction control method of the present invention, such as figure 1 As shown, the specific steps are as follows:

[0139] Step 1, design the least squares support vector machine Kalman vibration filter algorithm, filter the tremor signal of the hand, and obtain the target trajectory signal;

[0140] Step 2: Carry out trajectory planning on the target trajectory signal through the straight line trajectory planning method and the Chebyshev pseudospectral method respectively to obtain the planned trajectory, and optimize the planned trajectory through the quadratic programming method to obtain the actual trajectory signal;

[0141] In step 3, the actual trajectory signal is used as input through the master-slave pose mapping function to map the motion poses of the master and slave hands, and real...

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Abstract

The invention discloses a master-slave surgical robot trajectory prediction control method, which comprises the following steps: firstly, designing a Kalman vibration filtering algorithm of a least square support vector machine, and filtering a tremor signal of a hand to obtain a target trajectory signal; performing trajectory planning on the target trajectory signal through a linear trajectory planning method and a Chebyshev pseudo-spectral method to obtain a planned trajectory, and optimizing the planned trajectory through a quadratic programming method to obtain an actual trajectory signal;taking the actual trajectory signals as input through a master-slave pose mapping function, mapping the movement poses of the master hand and the slave hand, and achieving predictive control over thetrajectory of the master-slave surgical robot. According to the master-slave surgical robot trajectory prediction control method, the problems that the operation of the tail end of a master-slave surgical robot is delayed, and the precision is low are solved.

Description

technical field [0001] The invention belongs to the technical field of surgical robot control, and in particular relates to a trajectory prediction control method of a master-slave surgical robot. Background technique [0002] At present, surgical robot technology has become a research hotspot in the field of medical robotics, and has broad application prospects in the field of clinical surgery. Trajectory control of the slave manipulator refers to generating the distance between the end effector of the slave manipulator from the starting point to the target point under the constraints of kinematics (displacement and velocity) and dynamics (acceleration and driving torque) of the manipulator. Discrete pose sequence between . Nowadays, there are mainly two types of trajectory control of the slave manipulator: (1) task space planning method. The task space refers to the space composed of the posture and displacement of the end effector when it moves in three-dimensional space...

Claims

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Application Information

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IPC IPC(8): G06F30/27A61B34/37G06F111/04G06F111/06G06F111/10
CPCG06F30/27A61B34/37A61B34/70G06F2111/04G06F2111/10G06F2111/06
Inventor 王文杰麻健伟王晓华何梦玲曹玉婷陈聪聪
Owner XI'AN POLYTECHNIC UNIVERSITY
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