基于神经动力学优化的柔性内窥镜机器人最优遥操作控制  

Optimal Teleoperation Control for Flexible Endoscopic Robots Based on Neurodynamic Optimization

作　　者：张杰阳 何帅 邓震 何炳蔚[1] ZHANG Jieyang;HE Shuai;DENG Zhen;HE Bingwei(School of Mechanical Engineering and Automation,Fuzhou University,Fuzhou 350108,China)

机构地区：[1]福州大学机械工程及自动化学院,福州350108

出　　处：《集成技术》2025年第2期3-12,共10页Journal of Integration Technology

基　　金：福建省科技厅对外合作项目(2024I0005);福建省卫生健康委重大科研专项(2021ZD01003)。

摘　　要：柔性内窥镜机器人具有连续体结构,在微创手术领域展现出独特优势,但连续体结构的非线性变形特征导致柔性内窥镜机器人的运动控制精度不足。针对上述问题,本文提出一种基于神经动力学的柔性内窥镜机器人最优遥操作控制方法。首先,通过构建图像空间下内窥镜机器人主从运动映射机制,建立柔性内窥镜运动学模型,获得图像特征速度与驱动速度的映射关系;其次,基因关节运动约束将机器人运动控制转化为二次规划最优控制问题,并使用基于神经动力学的实时求解器进行高效求解;最后,在输尿管镜机器人平台开展实验验证。实验结果表明:本文方法可有效减小人工操作误差和速度振荡,目标点跟踪误差被控制在2.5%以内,同时有效提升了碎石术中器械操控的准确性和稳定性。Flexible endoscopic robots,with their continuum structural characteristics,demonstrate unique advantages in minimally invasive surgery.However,the inherent nonlinear deformation features of continuum structures pose significant challenges to motion control precision.To address this technical bottleneck,this paper proposes an optimal teleoperation control method for flexible endoscopic robots based on neurodynamic optimization.First,a master-slave motion mapping mechanism in image space is established,coupled with a kinematic model of the flexible endoscope,to achieve accurate mapping between image feature velocities and driving velocities.Second,joint motion constraints are incorporated to formulate the robot control as a quadratic programming based optimal control problem,which is efficiently solved using a neurodynamicbased real-time solver.Experimental validation is conducted on a ureteroscopic robotic platform.Results demonstrate that the proposed method effectively suppresses manual operation errors and velocity oscillations,maintaining target tracking errors within 2.5%while significantly enhancing the accuracy and stability of instrument manipulation during lithotripsy procedures.

关 键 词：柔性内窥镜机器人 主从遥操作 神经动力学优化 最优控制 

分 类 号：TP242.3[自动化与计算机技术—检测技术与自动化装置] R693.4[自动化与计算机技术—控制科学与工程]