Position look-ahead self-adaptive puncture control method

Abstract

The invention discloses a position look-ahead self-adaptive puncture control method, which comprises the following steps that 1, a puncture position is obtained according to planning, and a distance between an initial position of a puncture outfit and the puncture position is obtained according to the puncture position; 2, according to the preset maximum puncture speed, acceleration change rate, deceleration change rate, maximum acceleration and the zero-speed requirement of the puncture device when the puncture position is reached, acceleration displacement and deceleration displacement are obtained through calculation, whether constant-speed section movement exists or not is judged in combination with the step 1, and accordingly all movement states are obtained and movement planning is conducted; 3, according to the movement parameters of the current puncture outfit and the movement plan in the step 2, the movement parameters of the puncture outfit at the next moment are obtained through calculation, wherein the movement parameters comprise the position, the speed and the acceleration of the puncture outfit; and 4, the step 3 is repeated until the puncture outfit moves to the puncture position. Prospective self-adaptive control is introduced, the problems of execution overshoot and lag of the puncture system are solved, and positioning accuracy and stability of the puncture system are guaranteed.

Description

technical field [0001] The invention relates to the field of machine control, in particular to a position forward-looking adaptive puncture control method. Background technique [0002] The current mainstream spinal surgery puncture process is mainly done manually by experienced doctors. During the process, the doctor relies on the C-arm machine to confirm the puncture position repeatedly. During the puncture process, the doctor uses a hand electric drill to drill and puncture. The puncture is completed without deviation in the puncture direction. In order to accurately locate the lesion, it is necessary for a doctor with rich clinical experience to complete this process; but in this process: 1. Due to the difference in the shape of the spine and the location of the lesion in different patients, the operating environment is relatively complicated and harsh ;2. The doctor needs to be exposed to the radiation environment of the C-arm machine for a long time, and needs to main...

AI Technical Summary

Problems solved by technology

The existing automatic puncture robot and puncture device structure are as follows: figure 1 , 2 As shown, the general traditional PID control method is generally adopted in the prior art, such as image 3 As shown, where S is the target position, t1 is the motion stop time, because the traditional PID is based on the feedback control system, there is a certain hysteresis and overshoot, image 3 The raised part in the center is the position overshoot, and a small overshoot in the patient's body may cause patient injury

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