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柔性?xún)如R介入機器人模糊PID控制研究
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中車(chē)青島四方機車(chē)車(chē)輛股有限公司,,,

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Fuzzy PID Control of Flexible Endoscope Intervention Robot
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    摘要:

    柔性?xún)如R以其損傷小、檢查直觀(guān)等優(yōu)勢在消化道疾病的診斷與治療上得到廣泛的應用,但其操作困難,因此研發(fā)有內鏡機器人輔助醫生進(jìn)行內鏡操作。在鏡下介入手術(shù)操作過(guò)程中,人體生理活動(dòng)增加了內鏡遠程操作的難度。針對生理活動(dòng)對目標靶點(diǎn)位置的影響,分析內鏡彎曲段結構,建立了柔性?xún)如R機器人的運動(dòng)學(xué)模型,并引入模糊PID控制策略來(lái)適應人體解剖結構、內鏡參數等不確定因素影響,使內鏡自動(dòng)跟蹤病灶靶點(diǎn),避免人重復小范圍的跟蹤動(dòng)作,提高控制精度。仿真表明,相對于傳統PID控制算法,模糊PID控制算法可加快系統響應,降低系統穩態(tài)誤差。

    Abstract:

    Flexible endoscope has been widely used in diagnosis and treatment of digestive tract disease due to minimal damage and Visual inspection. However, it is difficult to master such flexible endoscopes. So flexible endoscope intervention robot was developed to assist endoscopists with endoscope operation. During the operation of endoscope intervention surgery, human physiological activity increases the difficulty of endoscope manipulation. Aimed the influence of human physiological activity onto position of lesion target, the kinematic model of flexible endoscope intervention robot is developed based the analysis of bending section structure, the fuzzy PID control strategy is introduced to adapt the influence of uncertain factors such as indeterminate human anatomical structure and endoscope parameters. The endoscope is controlled to follow the lesion target automatically, avoiding the repetitive and small-scale operation and increasing operation accuracy. Simulation results indicate that, compared with traditional PID control algorithm, the fuzzy PID control algorithm could accelerate the system response and decrease the system static error.

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李言民,苗欣,金浩,顧紹鵬.柔性?xún)如R介入機器人模糊PID控制研究計算機測量與控制[J].,2019,27(2):98-101.

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  • 收稿日期:2018-11-25
  • 最后修改日期:2018-12-14
  • 錄用日期:2018-12-17
  • 在線(xiàn)發(fā)布日期: 2019-02-14
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