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High-precision control method for flexible wire transmission surgical instrument of minimally invasive surgical robot

A technique of surgical instruments and minimally invasive surgery, which is applied in the field of medical robots, can solve the problems of rough operation, limited control precision, and inconvenient use, and achieve the effects of high accuracy, improved control precision, and convenient use

Active Publication Date: 2021-03-26
HARBIN INST OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0005] In order to solve the problems of limited control precision, rough operation and inconvenient use of the existing control method of flexible wire-driven surgical instruments of minimally invasive surgical robots, the present invention proposes a high-precision control method of flexible wire-driven surgical instruments of minimally invasive surgical robots

Method used

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  • High-precision control method for flexible wire transmission surgical instrument of minimally invasive surgical robot
  • High-precision control method for flexible wire transmission surgical instrument of minimally invasive surgical robot
  • High-precision control method for flexible wire transmission surgical instrument of minimally invasive surgical robot

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specific Embodiment approach 1

[0055] Specific implementation mode one: combine figure 1 To illustrate this embodiment, a method for high-precision control of a minimally invasive surgical robot flexible wire-driven surgical instrument described in this embodiment, the specific steps are as follows:

[0056] Step 1. The minimally invasive surgical robot system starts master-slave control, and judges whether the actuating motor moves in the reverse direction in each control cycle;

[0057] Step 2: After actuating the motor to move in the reverse direction, judge the direction of the motor after the reverse movement, and if it turns in the forward direction, set the target position of the motor q d

[0058] q d =q d +ΔS 1 (1)

[0059] Using the motor target position q d To compensate the backlash of the mechanical clearance;

[0060] If the rotation is reversed, let the motor target position q d

[0061] q d =q d -ΔS 1 (2)

[0062] Using the motor target position q d To compensate the backlash...

specific Embodiment approach 2

[0073] Specific implementation mode two: combination figure 2 Describe this embodiment, this embodiment is a further limitation on the control method described in the first specific embodiment, a minimally invasive surgical robot flexible wire transmission surgical instrument high-precision control method described in this embodiment, the steps described The mechanical gap hysteresis ΔS of the surgical instrument in the second 1 The calculation method is as follows:

[0074] Step 21. Before the main control starts, make the actuating motor move back and forth at a constant speed v, with an amplitude of A m , the sampling period is T s , to collect the current data of the actuating motor when it moves back and forth at a uniform speed;

[0075] Step 22, intercept the current data with a length L from the current data, and use it as the input of the one-dimensional FCN neural network;

[0076] Step two and three, the one-dimensional FCN neural network uses the current data ...

specific Embodiment approach 3

[0081] Specific implementation mode three: combination figure 2 Describe this embodiment, this embodiment is a further limitation on the control method described in the first specific embodiment, a minimally invasive surgical robot flexible wire transmission surgical instrument high-precision control method described in this embodiment, the steps described The hysteresis difference ΔS of the flexible filament of the surgical instrument in the third 2 The calculation scheme of is as follows: Before the master control starts, let the actuating motor move back and forth at a constant speed v with an amplitude of A m , the sampling period is T s , collect the current data of the actuating motor when it moves back and forth at a constant speed; intercept the current data of length L from the current data, and use it as the input of the one-dimensional FCN neural network; the one-dimensional FCN neural network uses the current data of length L to calculate the flexible wire Defor...

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Abstract

The invention discloses a high-precision control method for a flexible wire transmission surgical instrument of a minimally invasive surgical robot, and relates to the field of medical robots. The problems that an existing control method for flexible wire transmission surgical instrument of minimally invasive surgery robot is limited in control precision, rough in operation and inconvenient to useare solved. Off-line identification of the surgical instrument is carried out in a simple and convenient mode, and the compensation accuracy is high. Specifically, hysteretic curves of a plurality ofinstruments are measured in advance, a universal hysteretic model of the instruments is obtained through polynomial fitting and maximum likelihood estimation, current data generated when a motor moves back and forth at a constant speed are identified through an FCN network before actual use, and the return difference is accurately extracted to adjust the amplitude of the hysteretic model, so thatthe fine control on the surgical instrument is realized. When used, an actuating motor only needs to reciprocate at a constant speed for multiple times in advance, so that the control method is veryconvenient, fine and smooth in compensation, high in accuracy and convenient to use. The invention is applicable to the field of medical robots.

Description

technical field [0001] The invention relates to the field of medical robots, in particular to a method for high-precision control of surgical instruments driven by flexible wires of minimally invasive surgical robots. Background technique [0002] In recent years, the application of endoscopic minimally invasive surgical robots has improved the surgical effect and reduced the pain of patients. The doctor controls the slender surgical instruments protruding into the patient's cavity through the master operator to achieve various surgical operations. However, due to the compact design, surgical instruments are usually driven by flexible wires for remote actuation, which leads to hysteresis in the movement between the actuation end and the output end, which affects the fine operation of the surgeon. [0003] At present, the industry mainly uses the idea of ​​"identification-compensation" to solve this problem. In terms of compensation, there are two ways of direct compensatio...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): A61B34/30A61B34/37A61B34/00
CPCA61B34/30A61B34/37A61B34/71A61B2034/301A61B2034/305
Inventor 潘博郭勇辰付宜利
Owner HARBIN INST OF TECH
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