High-precision offline control method of flexible wire-driven surgical instruments for minimally invasive surgical robots

A surgical instrument and minimally invasive surgery technology, applied in the field of medical robots, can solve the problems of limited control accuracy, rough operation, inconvenient use, etc., and achieve the effects of high accuracy, convenient use, and improved control accuracy

Active Publication Date: 2022-07-19
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 for minimally invasive surgical robots, the present invention proposes a high-precision off-line control method for flexible wire-driven surgical instruments of minimally invasive surgical robots

Method used

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  • High-precision offline control method of flexible wire-driven surgical instruments for minimally invasive surgical robots
  • High-precision offline control method of flexible wire-driven surgical instruments for minimally invasive surgical robots
  • High-precision offline control method of flexible wire-driven surgical instruments for minimally invasive surgical robots

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specific Embodiment approach 1

[0055] Embodiment 1: Combining figure 1 Illustrating this embodiment, a high-precision offline control method for 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 cyclically determines whether the actuating motor moves in reverse in each control cycle;

[0057] Step 2. After actuating the motor to move in the reverse direction, determine the direction of the motor after the reverse movement. If it rotates in the forward direction, set the target position of the motor q d

[0058] q d =q d +ΔS 1 (1)

[0059] Use the motor target position q d to compensate for the mechanical backlash;

[0060] If it rotates in the opposite direction, let the motor target position q d

[0061] q d =q d -ΔS 1 (2)

[0062] Use the motor target position q d To compensate for the mechanical backlash,...

specific Embodiment approach 2

[0073] Specific implementation mode 2: Combining figure 2 This embodiment will be described. This embodiment is a further limitation of the control method described in Embodiment 1. In this embodiment, a high-precision offline control method for a flexible wire-driven surgical instrument for a minimally invasive surgical robot is described. Mechanical clearance difference ΔS of the surgical instrument in step 2 1 is calculated as follows:

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

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

[0076] Step 2 and 3, the one-dimensional FCN neural network uses the current data of length L to calculate the mechanical gap p...

specific Embodiment approach 3

[0081] Specific implementation three: combination figure 2 This embodiment will be described. This embodiment is a further limitation of the control method described in Embodiment 1. In this embodiment, a high-precision offline control method for a flexible wire-driven surgical instrument for a minimally invasive surgical robot is described. The flexible wire deformation return difference ΔS of the surgical instrument in step 3 2 The calculation scheme is as follows: before the main control starts, the actuating motor is made to move back and forth at a constant speed v, and the amplitude is A m , the sampling period is T s , collect the current data when the actuator motor 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 Deformation period size C 2 ; ...

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Abstract

The invention discloses a high-precision offline control method for a flexible wire-driven surgical instrument of a minimally invasive surgical robot, and relates to the field of medical robots. In order to solve the problems of limited control precision, rough operation and inconvenient use of the existing minimally invasive surgical robot flexible wire-driven surgical instrument control method. The offline identification of surgical instruments is performed in a simple and convenient way, and the compensation accuracy is high. Specifically, the present invention measures the hysteresis curves of multiple instruments in advance, uses polynomial fitting and maximum likelihood estimation to obtain a general hysteresis model for the instruments, and then uses the FCN network to measure the time of the motor when the motor moves back and forth at a constant speed before actual use. The current data is identified, and the hysteresis is accurately extracted to adjust the amplitude of the hysteresis model, thereby realizing delicate control of surgical instruments. When using the present invention, it is only necessary to make the actuating motor move back and forth at a constant speed several times in advance, which is very convenient, and the compensation is delicate and accurate, and it is easy to use. The invention is suitable for the field of medical robots.

Description

technical field [0001] The invention relates to the field of medical robots, in particular to a high-precision offline control method for a flexible wire-driven surgical instrument of a minimally invasive surgical robot. Background technique [0002] In recent years, the application of endoscopic minimally invasive surgical robots has improved the surgical effect and relieved the pain of patients. Doctors use the main operator to control the elongated surgical instruments extending into the cavity of the patient to achieve various surgical operations. However, due to the compact design, the surgical instruments usually use a long-distance actuating flexible wire transmission, which leads to a hysteresis in the movement between the actuating end and the output end, which affects the surgeon's fine operation. [0003] At present, the industry mainly solves this problem through the idea of ​​"identification-compensation". In terms of compensation, there are two methods: direc...

Claims

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Application Information

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Patent Type & Authority Patents(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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