基于Autogluon算法绳驱动手术器械运动补偿控制  

Motion Compensation Control of the Cable-driven Surgical Instrument Based on the Autogluon Algorithm

作　　者：牛国君 汪巍巍 朱姚俊 NIU Guojun;WANG Weiwei;ZHU Yaojun(School of Mechanical Engineering,Zhejiang Sci-Tech University,Hangzhou 310018,China)

机构地区：[1]浙江理工大学机械工程学院,浙江杭州310018

出　　处：《机械与电子》2023年第11期37-42,48,共7页Machinery & Electronics

基　　金：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)。

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。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 surgi-cal 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 instru-ments based on the Autogluon algorithm is proposed.First,one degree of freedom wire rope surgical in-strument 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 mo-tion 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.

关 键 词：手术器械 全闭环控制 Autogluon算法 位置估计 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]