Intelligent integrated control design of a flexible puncture robot
To solve the problem of efficient and precise minimally invasive surgery,this article designs coupled motion of the two robot systems.Importantly,the adaptive coupling control method"whole-local functions"is used to control a multi-macro micro coupling combined row motion and multi-scale sensing system.Specifically,the integrated intelligent servo control system includes the collaborative robot,wire controlled micro variable path robots,and visual sensing navigation system,which achieved through the upper computer integrated control system.Through functional experiment,it is verified that the control system has the capability to realize variable path needle feed of the flexible needle,and the performance meets the design requirements.
万方数据
维普
