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微创血管手术要求导管机器人系统快速响应、强鲁棒性、对目标轨迹准确跟踪以确保手术的安全。传统的位置跟踪过程中,对导管进行假设并建立模型,但是导管模型是不够精确,一定程度上影响了导管的位置跟踪精度。为了解决上述问题,本文采用MFA(Model Free Adaptive,无模型自适应)控制方法,解决导管模型带来的非线性问题,提高系统位置跟踪精度。仿真结果表明,所提方法在微创手术中具有可行性和优越性。
Minimally invasive vascular surgery requires a rapid response, robustness of the catheter robotic system and accurate tracking of the target trajectory to ensure surgical safety. In the traditional position tracking, the catheter is assumed and the model is established, but the catheter model is not accurate enough to some extent affect the position tracking accuracy of the catheter. In order to solve the above problems, this paper adopts the MFA (Model Free Adaptive) control method to solve the nonlinear problems caused by the catheter model and improve the system position tracking accuracy. The simulation results show that the proposed method is feasible and superior in minimally invasive surgery.