Abstract

Info

Title:: Adaptive sliding mode predictive control for robot-assisted vascular interventional surgery

Author(s):: SUN Liyan; HU Zhi; CUI Guohua; DAI Xianping; School of Electronic and Electrical Engineering, Shanghai University of Engineering Science, Shanghai 201620, China

Keywords:: Keywords: vascular intervention nonlinearity adaptive sliding mode control force feedback transparency

Abstract:: Abstract: The robustness of sliding mode control is utilized to improve the adaptability of the control system to changes in vascular mechanical properties of different patients. Adaptive sliding mode control is designed to adapt the controller to the needs of different virtual environment simulations through an adaptive mechanism, thereby weakening the chattering of sliding mode control. The extrapolation prediction algorithm is invoked under the adaptive sliding mode control to reduce the effects of delay on the control and improve force feedback transparency. The experimental results demonstrate that adaptive sliding mode predictive control can enhance system stability, force feedback control accuracy, and fidelity of force feedback control system for flexible surgical instruments. The study has important theoretical significance and practical value for the design of systems with flexible control objects and the improvement of force feedback fidelity.