[1]朱羿戎,陶广红,李晓贞.腹腔镜手术机械臂自适应PID控制方法[J].中国医学物理学杂志,2025,42(10):1393-1400.[doi:DOI:10.3969/j.issn.1005-202X.2025.10.018]
　ZHU Yirong,TAO Guanghong,LI Xiaozhen,et al.Adaptive PID control method for laparoscopic surgical robotic arm[J].Chinese Journal of Medical Physics,2025,42(10):1393-1400.[doi:DOI:10.3969/j.issn.1005-202X.2025.10.018]
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腹腔镜手术机械臂自适应PID控制方法()

《中国医学物理学杂志》[ISSN:1005-202X/CN:44-1351/R]

卷:
42
期数:
2025年第10期
页码:
1393-1400
栏目:
医学信号处理与医学仪器
出版日期:
2025-10-29

文章信息/Info

Title:
Adaptive PID control method for laparoscopic surgical robotic arm
文章编号:
1005-202X（2025）10-1393-08
作者:
朱羿戎1; 陶广红2; 李晓贞1; 2
1.安徽科技学院智能制造学院， 安徽 滁州 239000； 2.精勤智造（苏州）医疗科技有限公司， 江苏 苏州 215000
Author(s):
ZHU Yirong1;  TAO Guanghong2;  LI Xiaozhen1;  2
1. College of Intelligent Manufacturing, Anhui Science and Technology University, Chuzhou 239000, China 2. Jingqin Intelligent Manufacturing (Suzhou) Medical Technology Co., Ltd., Suzhou 215000, China
关键词:
腹腔镜手术; PID控制; 自适应; 机械臂
Keywords:
Keywords: laparoscopic surgery PID control adaptive robotic arm
分类号:
R318；TP242.3
DOI:
DOI:10.3969/j.issn.1005-202X.2025.10.018
文献标志码:
A
摘要:
目的：为了有效优化腹腔镜手术机械臂在实际操作过程中的定位准确度和可靠性能，提出以自适应PID控制策略为基础的改良计划。方法：研究利用粒子群优化（PSO）算法实时在线调整PID控制器的比例（Kp）、积分（Ki）和微分（Kd）参数，依靠多自由度运动学模型搭建起腹腔镜手术机械臂仿真实验平台，借助典型路径规划以及模拟扰动测试予以证实。通过使用高精度传感器获取轨道偏差数据，在传统PID控制模式下进行控制并且在自适应PID控制模式下同样实施控制，比较均方根误差（RMSE）和响应时间。结果：自适应PID控制方法的轨迹跟踪误差RMSE平均值为0.853 mm，显著低于传统PID控制方法的2.665 mm；响应时间平均为4.34 s，相较于传统PID控制方法的5.64 s也明显缩短。自适应PID控制能有效抑制传统PID控制常见的超调及振荡现象，整体性能更加稳定可靠。结论：本研究提出的方法弥补了传统PID控制固有的缺陷，在复杂的动态手术环境中，提高腹腔镜手术机械臂操作的准确度和稳定性，为机器人辅助手术系统的设计优化提供重要的理论基础和技术支持，具有重要的临床应用价值和社会效益。
Abstract:
Objective To propose an improved scheme based on an adaptive PID control strategy for effectively optimizing the positioning accuracy and reliability of laparoscopic surgical robotic arm during practical operations. Methods The particle swarm optimization algorithm was employed to adjust the proportional (Kp), integral (Ki), and derivative (Kd) parameters of the PID controller in real-time and online. A simulation experimental platform for laparoscopic surgical robotic arm was built based on a multi-degree-of-freedom kinematic model, and verification was conducted through both typical path planning and simulated disturbance tests. High-precision sensors were used to obtain trajectory deviation data, and control experiments were carried out under the traditional PID control mode and the adaptive PID control mode. The root mean square error and response time were compared. Results The average root mean square error of trajectory tracking error and the average response time of the adaptive PID control method were lower or shorter than those of the traditional PID control method (0.853 mm vs 2.665 mm 4.34 s vs 5.64 s). Furthermore, the adaptive PID control effectively suppressed the overshoot and oscillation phenomena commonly seen in traditional PID control, demonstrating more stable and reliable overall performance. Conclusion The proposed scheme addresses the inherent limitations of traditional PID control, improves the operation accuracy and stability of laparoscopic surgical robotic arm in complex dynamic surgical environments, and provides important theoretical foundations and technical support for the design optimization of robot-assisted surgical systems, holding significant clinical application value and social benefits.

相似文献/References:

[1]董亮,张兴安,熊冬生,等.基于TCI麻醉深度智能控制系统的设计[J].中国医学物理学杂志,2013,30(02):4052.[doi:10.3969/j.issn.1005-202X.2013.02.021]
[2]丁正敏,熊冬生,王小红,等.基于模糊自适应PID控制的麻醉靶控输注智能化研究[J].中国医学物理学杂志,2016,33(7):726.[doi:10.3969/j.issn.1005-202X.2016.07.018]
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备注/Memo

备注/Memo:
【收稿日期】2025-06-04 【基金项目】安徽省高校自然科学研究项目（2023AH051856） 【作者简介】朱羿戎，硕士研究生，研究方向：多自由度腔镜手术器械，E-mail: 1319142935@qq.com 【通信作者】李晓贞，博士，讲师，研究方向：多自由度腔镜手术器械，E-mail: lixiaozhen@jqzz.net
更新日期/Last Update: 2025-10-29