[1]牛国君,汪巍巍,朱姚俊.基于 Autogluon 算法绳驱动手术器械运动补偿控制[J].机械与电子,2023,41(11):37-42.
　NIU Guojun,WANG Weiwei,ZHU Yaojun.Motion Compensation Control of the Cable-driven Surgical Instrument Based on the Autogluon Algorithm[J].Machinery & Electronics,2023,41(11):37-42.
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基于 Autogluon 算法绳驱动手术器械运动补偿控制()
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《机械与电子》[ISSN:1001-2257/CN:52-1052/TH]

卷:
41
期数:
2023年11期
页码:
37-42
栏目:
智能工程
出版日期:
2023-11-23

文章信息/Info

Title:
Motion Compensation Control of the Cable-driven Surgical Instrument Based on the Autogluon Algorithm
文章编号:
1001-2257 ( 2023 ) 11-0037-06
作者:
牛国君; 汪巍巍; 朱姚俊
浙江理工大学机械工程学院,浙江 杭州 310018
Author(s):
NIU Guojun ;  WANG Weiwei ;  ZHU Yaojun
( School of Mechanical Engineering , Zhejiang Sci-Tech University , Hangzhou 310018 , China )
关键词:
手术器械; 全闭环控制;  Autogluon 算法; 位置估计
Keywords:
surgical instrument ;  full closed loop control ;  Autogluon algorithm ;  position estimation
分类号:
TP242
文献标志码:
A
摘要:
受灭菌条件和手术操作空间限制,手术器械采用钢丝绳传动。受钢丝绳迟滞和柔性,以及电机齿轮箱齿系影响,且手术器械末端无法安装角度传感器,手术器械末端运动不能形成闭环控制,导致手术器械末端精度低进而影响手眼协调控制一致性。针对这一问题,提出基于 Autogluon 算法绳驱动手术器械运动补偿控制算法。搭建单自由度钢丝绳驱动手术器械平台,开展基于机器学习方法的位置估计,将该位置估计作为器械末端执行器反馈形成运动补偿控制。为验证该算法有效性,将该算法与线性回归、决策树、支持向量机、神经网络和高斯过程方法对比,该算法的均方误差、平均绝对误差、最大误差和标准差指标最小,基于该算法位置跟踪精度最高。
Abstract:
Limited by sterilization conditions and operation space , surgical instruments are driven by wire rope.Affected by the hysteresis and flexibility of the wire rope , as well as the backlash of the motor gearbox , and the angle sensor cannot be installed at the end of the surgical instrument , the motion of surgical instrument end-effector is not realized by the closed-loop control , resulting in the low precision of surgical instrument end-effector , which will affect the consistency of the hand-eye coordination control. For solving this problem , a motion compensation control algorithm of the wire rope driven surgical instruments based on the Autogluon algorithm is proposed.First , one degree of freedom wire rope surgical instrument platform is built , the position estimation based on machined learning method is carried out.This position estimation is used as the position feedback of the surgical instrument end-effector to form a motion compensation control.In order to verify the effectiveness of the algorithm , the algorithm is compared with linear progress method , decision tree , support vector machine , neural network and Gaussian progress. The mean square error , mean absolute error , maximum error and standard deviation of the algorithm are the smallest , the position tracking accuracy based on this algorithm is the highest.

参考文献/References:

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备注/Memo

备注/Memo:
收稿日期: 2023-02-06
基金项目:国家自然科学基金资助项目( 61803341 );浙江省自然科学基金资助项目( LY20E050019 );机器人技术与系统国家重点实验室开放研究项目( SKLRS-2019-KF-08 )
作者简介:牛国君 ( 1986- ),男,山东枣庄人,博士,讲师,研究方向为微创手术机器人、机器人控制;汪巍巍 ( 1997- ),男,江苏南京人,硕士研究生,研究方向为微创手术机器人、机器人控制;朱姚俊 ( 1998- ),男,浙江金华人,硕士研究生,研究生方向为微创手术机器人力估计。
更新日期/Last Update: 2023-12-14