Motion compensation algorithm for multi-degree-freedom luminal surgical instruments
10.3969/j.issn.1005-202X.2025.05.016
- VernacularTitle:多自由度腔镜手术器械运动补偿算法
- Author:
Yan ZHAO
1
;
Xiaozhen LI
1
;
Yirong ZHU
1
;
Qianshu MA
1
Author Information
1. 安徽科技学院智能制造学院,安徽 滁州 233100
- Publication Type:Journal Article
- Keywords:
4-degree-freedom laparoscopic surgical instrument;
Autogluon algorithm;
position estimation;
motion compensation
- From:
Chinese Journal of Medical Physics
2025;42(5):660-666
- CountryChina
- Language:Chinese
-
Abstract:
Due to the constraints of the surgical environment and operational space,laparoscopic surgical instruments employ wire-driven mechanisms.However,factors such as wire rigidity,hysteresis,and motor drive limitations result in the end-effector accuracy of surgical instruments failing to meet ideal requirements.To address the shortcomings of existing multi-degree-of-freedom laparoscopic surgical instruments in achieving end-effector precision,a motion compensation algorithm based on the Autogluon algorithm for a 4-degree-freedom laparoscopic surgical instrument is proposed.A single-degree-of-freedom surgical instrument driven by wire ropes was constructed,and machine learning was utilized to estimate the end-effector position.This estimated position served as a feedback compensation condition to control the end-effector of the surgical instrument.To validate the correctness of this method,it was compared with approaches such as neural networks,linear regression,decision trees,Gaussian processes,and support vector machines.The results demonstrated that the proposed method achieved the smallest mean squared error,maximum error,and mean absolute error,thereby verifying its effectiveness.
