Adaptive Transformer-based compliant force control for soft tissue retraction(PDF)
《中国医学物理学杂志》[ISSN:1005-202X/CN:44-1351/R]
- Issue:
- 2026年第4期
- Page:
- 503-509
- Research Field:
- 生物材料与力学
- Publishing date:
Info
- Title:
- Adaptive Transformer-based compliant force control for soft tissue retraction
- Author(s):
- GAO Lei; HU Zhi
- School of Electronic and Electrical Engineering, Shanghai University of Engineering Science, Shanghai 201620, China
- Keywords:
- Keywords: adaptive impedance control force feedback predictive control Transformer
- PACS:
- R318；TP242
- DOI:
- DOI:10.3969/j.issn.1005-202X.2026.04.013
- Abstract:
- Abstract: An adaptive impedance control strategy incorporating Transformer-based sequence prediction mechanisms is proposed to address the challenges of environmental stiffness variations and dynamic uncertainties faced by surgical robots in complex soft tissue environments, in which traditional impedance control methods struggle with insufficient adaptability. The proposed method performs multivariate modeling on historical contact force and displacement sequences, and utilizes Transformer models to predict the evolution trends of environmental stiffness, contact positions, and control parameters, thereby achieving feedforward adjustment of control parameters and improving system adaptability to nonlinear and non-stationary environments. Comparative experiments against fixed impedance control, conventional adaptive impedance control, and model predictive control during soft tissue retraction demonstrate that, under a 10 N target-force condition, the proposed method reaches the target force within 1.7 s, with a steady-state error of about ±0.2 N and a maximum force overshoot of about 0.26 N during environmental stiffness variations, the recovery time is 0.35 s and the settling time is 1.43 s in disturbance experiments, under sinusoidal disturbance, the maximum deviation is 3.17 N and the integral absolute error (IAE) is reduced to 3.52, while under step disturbance, the recovery time is 0.34 s. Experimental results demonstrate that the proposed method outperforms comparative approaches in response speed, steady-state accuracy, overshoot suppression, and disturbance rejection performance, providing new technical support for high-precision compliant control of medical robots.
Last Update: 2026-04-29