Research on Adaptive Control of Driving Resistance of Minimally Invasive Surgical Robot Propulsion Mechanism
Due to the drive resistance between the joints of the operating arm,and the increase in wire translation and delivery accuracy errors,caused by the multi-dimensional nature of the corresponding coordinate system of the catheter,guide wire and stent structure in the drive of the robot propulsion mechanism,the adaptive control method of the minimally invasive surgery is proposed.The spherical coordinates of the target point are converted into the stator three-phase winding coordinate system to improve the accuracy of the target position information.According to the conversion results of the robot propulsion mechanism drive coordinates,the heavy torque,inertia torque and friction torque of the propulsion mechanism drive are compensated.The compensation torque is taken as the control target,and the system state observer is built by the output of individual adaptation by the continuous wave pulse device to complete the construction of the equivalent torque model of the minimally invasive surgery robot propulsion mechanism,and realize the adaptive control of the minimally invasive surgery robot propulsion mechanism.The test results show that the total error of the guide wire is 0.80mm,and the average error of the delivery accuracy is 0.20mm.This paper proves that this method can improve the reverse driving effect of minimally invasive surgery robot,and it has good stability.
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