Adaptive sliding mode predictive control for robot-assisted vascular interventional surgery
10.3969/j.issn.1005-202X.2023.12.017
- VernacularTitle:机器人血管介入手术自适应滑模预测控制
- Author:
Liyan SUN
1
;
Zhi HU
;
Guohua CUI
;
Xianping DAI
Author Information
1. 上海工程技术大学电子电气工程学院,上海 201620
- Keywords:
vascular intervention;
nonlinearity;
adaptive sliding mode control;
force feedback transparency
- From:
Chinese Journal of Medical Physics
2023;40(12):1564-1570
- CountryChina
- Language:Chinese
-
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.
