The design of a dual channel synchronous control system based on a new percutaneous puncture surgical robot

被引：0
作者：
Liandong Wang
Tiehua Hu
机构：
[1] Jilin University,School of Mechanical and Aerospace Engineering (SAME)
[2] China Academy of Machinery Science & Technology (CAM),undefined
来源：
Multimedia Tools and Applications | 2020年 / 79卷
关键词：
Dual channel; Synchronous control; Surgical robot; Tele-robotics;
D O I：
暂无
中图分类号：
学科分类号：
摘要：
One type of automatic medical tele-robotics system that is used in Percutaneous Puncture Surgery has been presented in this paper. A compensation (or synchronous) method for physiological movement is a necessary control method to reduce the difficulty of operations and improve operating accuracy for an automatic Percutaneous Puncture Surgical Robot (PPSR). Firstly, the robotics system can put a surgeon away from X-ray radiation. Secondly and importantly, the control system of the Robot is based on an Iterative Learning Control (ILC) algorithm which is a dual channel synchronous control system. The puncture actuator controlling channel is in charge of automatically inserting a needle and compensating for the motion of the internal organs. The robotic arm controlling channel is in charge of controlling the direction of the needle and compensating for the body’s external inserting point motion with the on-line supervision. The performance of the control system has been evaluated and simulated in MATLAB. The results have been proven that the control process is effective.
引用
收藏
页码：10405 / 10425
页数：20
相关论文
共 18 条
[1]  
Alexandre B(2009)Motion compensated tomography reconstruction of coronary arteries in rotational angiography[J] IEEE Trans Biomed Eng 56 1254-1257
[2]  
Zhou J(2005)Active filtering of physiological motion in robotized surgery using predictive control[J] IEEE Trans Robot 21 67-79
[3]  
Yang G(2003)Synchronized moving aperture radiation therapy (SMART): average tumour trajectory for lung patients Phys Med Biol 48 587-598
[4]  
Ginhoux R(2011)Haptic feedback control in medical robots through fractional viscoelastic tissue model[J] Conf Proc IEEE Eng Med Biol Soc 2011 6704-6708
[5]  
Gangloff J(2015)Novel Kalman filter for human motion tracking with an inertial-based dynamic inclinometer[J] IEEE Trans Biomed Eng 62 2033-2043
[6]  
Mathelin MD(2004)Tracking moving organs in real time.[J] Semin Radiat Oncol 14 91-245
[7]  
Huang SY(2014)Cardiac electrophysiological activation pattern estimation from images using a patient-specific database of synthetic image sequences[J] IEEE Trans Biomed Eng 61 235-15
[8]  
Kobayashi Y(2016)Development and validation of real-time simulation of X-ray imaging with respiratory motion[J] Computerized Medical Imaging & Graphics the Official Journal of the Computerized Medical Imaging Society 49 1-undefined
[9]  
Moreira P(undefined)undefined undefined undefined undefined-undefined
[10]  
Liu C(undefined)undefined undefined undefined undefined-undefined
12