Flexible endoscope robot control method, device, equipment and medium
By discretizing the flexible endoscope robot into an equivalent rigid body model and constructing a Hamiltonian energy control framework, the control accuracy and stability issues of the flexible endoscope robot in complex environments are solved, achieving high-precision visual tracking and compliance.
Patent Information
- Application Number
- CN202610691011.1
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2026-05-19
- Publication Date
- 2026-07-17
AI Technical Summary
Traditional rigid body dynamics models are difficult to apply to flexible endoscopic robots, resulting in insufficient control accuracy and stability in complex dynamic environments, and an inability to effectively suppress disturbances.
The flexible segment is discretized into multiple equivalent rigid body models. A Hamiltonian function is constructed based on the system's generalized coordinates and dynamic equations. The visual potential energy function is extended to a target energy function. Control input information is constructed to actively counteract disturbances and achieve energy shaping control.
It improves the control precision and stability of flexible endoscopic robots in complex dynamic environments, ensuring compliance and adapting to the disturbance cancellation ability of complex surgical environments.
Smart Images
Figure CN122398472A_ABST