机器人血管介入手术自适应滑模预测控制-《中国医学物理学杂志》

文章信息/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

摘要:: 利用滑模控制的鲁棒性提高控制系统对不同病人血管力学特性变化的适应性，设计自适应滑模控制，通过自适应机制让控制器适应不同虚拟环境模拟的需要，降低滑模控制抖振。在自适应滑模控制作用下引用外推预测算法，降低延时对控制效果的影响，提高力反馈透明度。研究结果表明，自适应滑模预测控制能提升系统稳定性，提高力反馈控制精度，提高柔性手术器械的力反馈控制系统真实感。本研究为具有柔性控制对象的系统设计以及力反馈真实感的提升有重要理论意义和实用价值。

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.