AU2020445633A1 - Model-free adaptive algorithm-based multi-claw needle automatic puncture control apparatus and control method - Google Patents
Model-free adaptive algorithm-based multi-claw needle automatic puncture control apparatus and control method Download PDFInfo
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Abstract
A model-free adaptive algorithm-based multi-claw needle automatic puncture control apparatus and control method, used for controlling the movement of a multi-claw needle, the multi-claw needle automatic puncture control apparatus comprising a control module and an execution mechanism; the control module parses a path tracking control command transmitted by a host computer to generate a motor control amount output; and the execution mechanism comprises a transmission drive module and a multi-claw needle body, and drives the movement of the multi-claw needle body on the basis of the motor control amount. In the present control method, the needle tip positions of a main needle and all of the sub-needles and the motor position are acquired from a sensor, the desired needle tip positions are acquired from the commands of the host computer, and the motor control amount is calculated on the basis of a MFAC control method of a tight-format dynamic linearised data model and outputted to control the puncture action of the multi-claw needle and track a target path. The present automatic puncture apparatus and control method improve the uncertainty of the travel of the puncture apparatus, reduce the reliance of traditional control methods on models, and increase the adaptability of the puncture apparatus to complex environments.
Description
[0001] The present invention relates to the technical field of soft tissue puncture instruments, and in particular to a Model-Free Adaptative Control (MFAC) algorithm based multi-claw needle automatic puncture control apparatus and control method.
[0002] Soft tissue puncture instrument is an important clinical surgical instrument, which is widely used in clinical diagnosis, treatment, tumor chemotherapy and radiotherapy, local anesthesia and other fields because of its advantages such as less surgical trauma, convenient operation, strong practicability and low operating cost.
[0003] At present, puncture surgery is usually performed by medical staff with the help of medical images, and the puncture needle is inserted into the target site to perform the corresponding operation. However, the conventional puncture needle is rigid and can only locate one target at a time, so the puncture path is relatively single. Repeated puncture for multiple biopsies causes great discomfort to patients. In addition, due to the physical strength and experience of medical staff, it is difficult to accurately control the puncture needle in actual operation. In order to solve the above problems, further in-depth research is carried out on the structure optimization and automatic control of puncture instrument in the application of medical auxiliary equipment, so as to achieve accurate positioning, maximize the puncture quality and reduce the pain of patients.
[0004] Any discussion of the prior art throughout the specification should in no way be considered as an admission that such prior art is widely known or forms part of common general knowledge in the field.
[0005] The objective of the present invention is to provide a data-driven algorithm-based multi-claw needle automatic puncture control apparatus to realize automatic control, and to develop a corresponding control method to overcome the environmental interference in the puncture process and improve the puncture positioning accuracy.
[0006] It is an object of the present invention to overcome or ameliorate at least one of the disadvantages of the prior art, or to provide a useful alternative.
[0007] A first aspect of the present invention may relate to a Model-Free Adaptive Control (MFAC) algorithm-based multi-claw needle automatic puncture control apparatus. The MFAC algorithm-based multi-claw needle automatic puncture control apparatus includes a control module and an execution mechanism, where the control module comprises a micro-processing unit and a motor control unit. The micro-processing unit is used for analyzing a path tracking control command transmitted from a host computer, generating motor control amount, and outputting the motor control amount to the motor control unit. The motor control unit amplifies the motor control amount and outputs it to the execution mechanism. The execution mechanism comprises a transmission drive module and a multi claw needle body, where the transmission drive module comprises a transmission mechanism and drive motors. The multi-claw needle body is connected with the drive motors through the transmission mechanism, and the drive motors drive the multi-claw needle body to move according to the motor control amount. The multi-claw needle body includes a rigid main needle and flexible sub-needle bundles, where the sub-needle bundles are embedded in the main needle in a non-working state. In a working state, a drive motor of the main needle pushes the main needle to open a guide slit, and a drive motor of the sub-needle bundles drives each flexible sub-needle to expand and contract, so that sub needles act on target positions in a divergent manner.
[0008] Another aspect of the present invention may relate to a model-free adaptive algorithm-based multi-claw needle automatic puncture control method, including:
[0009] S1, obtaining needle tip positions of the main needle and all the sub-needles and positions of the motors from sensors by the multi-claw needle automatic puncture control apparatus, obtaining desired needle tip positions from command of the host computer, and outputting motor control amount;
[0010] where the motor control amount is expressed as input physical quantity u(k), and u(k) includes the position control amount of the drive motors of the main needle and each sub-needle bundle at time k; the needle tip positions of the main needle and all the sub needles at the time k are expressed output physical quantity y(k); historical output physical quantity and input physical quantity and output physical quantity at a next time are represented by a nonlinear discrete-time system with multiple inputs and multiple outputs;
[0011] S2, converting the nonlinear discrete-time system in Si into a compact form dynamic linearization data model;
[0012] S3, in order to ensure the desired output physical quantity, designing a control input criterion function to obtain a control law; where the control law is as follows:
u(k) = u(k - 1) + 2 (y*(k + 1) - y(k)),
[0013] where u(k - 1) is input physical quantity at time k-1; weight factor / > 0; step
factor p E (0,1]; y*(k + 1) is expected output physical quantity at time k+; Oc(k) is the pseudo jacobian matrix of the nonlinear discrete-time system at the time k; T(k) is transpose of matrix Oc(k);
[0014] S4, estimating the pseudo jacobian matrix c(k); and
[0015] S5, obtaining a control law at timek according to estimated value c(k) of the pseudo jacobian matrix: utk) = utk - 1) + ' "12 (y*(k + 1) - y(k)),
[0016] where iT(k) is transpose of the matrix Pc(k);
[0017] the calculated u(k) is the motor control amount output by the control module at time k.
[0018] Compared with the prior art, the invention has following advantages and positive effects.
[0019] Firstly, the invention realizes an automatic puncture control apparatus and a control method for a multi-claw needle. At present, the multi-claw needle is manually controlled, which greatly affects the puncture accuracy. The invention realizes the automatic control of the multi-claw needle, and realizes the advancement and expansion of the main needle and each sub-needle of the multi-claw needle by controlling the motors and a gear.
[0020] Secondly, according to the automatic puncture control method for the multi-jaw needle, the problem that the movement model of the multi-jaw needle in the tissue is difficult to establish is solved, the motor drive of the multi-jaw needle does not need to be modelled, the dependence on the model is reduced, the automatic puncture auxiliary installation is established, the automatic multi-jaw needle is accurately controlled to complete soft tissue puncture, the uncertainty of manual puncture is improved, and the adaptability to complex environments is improved.
[0021] In the context of the present invention, the words "comprise", "comprising" and the like are to be construed in their inclusive, as opposed to their exclusive, sense, that is in the sense of "including, but not limited to".
[0022] The invention is to be interpreted with reference to the at least one of the technical problems described or affiliated with the background art. The present aims to solve or ameliorate at least one of the technical problems and this may result in one or more advantageous effects as defined by this specification and described in detail with reference to the preferred embodiments of the present invention.
[0023] Figure 1 depicts a schematic diagram of a structure of an automatic puncture system according to the present invention.
[0024] Figure 2 depicts a schematic structural diagram of a multi-claw needle body according to the present invention.
[0025] Figure 3 depicts a schematic diagram of a system for automatically controlling a multi-claw needle according to the present invention.
[0026] Figure 4 depicts a schematic diagram of an automatic multi-jaw needle control method based on Model-Free Adaptive Control (MFAC) according to the present invention.
[0027] Preferred embodiments of the invention will now be described with reference to the accompanying drawings and non-limiting examples.
[0028] The invention designs a puncture execution mechanism with automatic control of multi-claw needle action, and a Model-Free Adaptive Control (MFAC) control method based on Compact form Dynamic Linearization (CFDL) data model controls the puncturing action and tracks the target path. The invention improves the uncertainty of travel of the puncture apparatus, thereby reducing the possible damage caused by multiple punctures, reducing the dependence of the conventional control method on the model, and improving the adaptability of the puncture apparatus to complex environment.
[0029] As shown in Figure. 1, the multi-claw needle automatic puncture system of the invention comprises a planning module, a control module, a sensor module, a transmission drive module, a multi-claw needle body and a host computer. Among them, functions of the host computer mainly include man-machine interaction, parameter configuration of the control module, receiving and displaying equipment state from a sensor module, morphology display of puncture needle and tissue, etc. The planning module includes pre operative planning unit and intra-operative planning unit. The pre-operative planning module is used to obtain information of the internal environment of the human body before operation, information of obstacles and targets, and preliminarily plan a puncture path. The intra-operative planning unit is to revise and re-plan a pre-planned path due to the change of human tissue or the large deviation of puncture during a puncture process. The planning module may be arranged on the host computer or other hosts. A key point of the invention is to control the movement of the multi-jaw needle according to the planned path, and the path planning of the multi-jaw needle is realized by an existing path planning technology. The planning module translates the planned path into a series of path tracking control commands according to a preset communication protocol, and sends commands to the control module to guide the multi-claw needle to puncture accurately to reach the target positions step by step according to the planned path.
[0030] The control module is embedded, integrated with a micro-processing unit and a motor control unit. The motor control unit mainly includes a driving power amplifier circuit. After receiving tracking control commands about the planned path, the micro processing unit generates a motor control amount according to a control logic, amplifies voltage and current quantity through the driving power amplifier circuit, and outputs corresponding PWM (Pulse Width Modulation) voltage or current quantity signal to motors of the transmission drive module to drive the multi-claw needle to move.
[0031] The transmission drive module and the multi-claw needle body are designed as execution mechanisms. The transmission drive module includes a transmission mechanism and drive motors. The multi-claw needle body is connected with drive motors through the transmission mechanism, and the drive motors drive the multi-claw needle body to perform corresponding actions through the transmission mechanism.
[0032] The sensor module is used to collect state information of needle-tissue and movement state information of the drive motors in the transmission drive module in real time, and transmit the information to the control module to facilitate a subsequent path adjustment of the multi-jaw needle body.
[0033] As shown Figure 2, the multi-claw needle body includes a rigid main needle and a plurality of flexible sub-needles. In an embodiment shown in Figure 2, each flexible sub needle is divided into a left sub-needle bundle 1 and a right sub-needle bundle 2. The main needle includes an outer protective sheath 3 and an inner guide needle 4, and the main needle is used for rough positioning and protecting the sub-needles. Each sub-needle is a slender structure with internal bending and is used for fine positioning to reach different target positions. The left sub-needle bundle land right sub-needle bundle 2 are each composed of two pre-bent puncture needles with a same structure, and left and right sub needle bundles are used to expand a range where needles are applied. In practical application, the number of sub-needles may be adjusted according to the size of specific parts to be acted on or the number of target points. The multi-claw needle body has three controllable degrees of freedom, that is, the feeding movement of the guide needle 4 of the main needle, the left sub-needle bundle 1 and the right sub-needle bundle 2, as shown in Figure 2, the telescopic movement a of the sub-needle, the telescopic movement b of the guide needle of the main needle and the main needle rotation movement c based on the main puncture system. The whole multi-claw needle body is used as an operating end of the automatic puncture system.
[0034] For the multi-claw needle body shown in Figure 2, the transmission drive module includes a feed motor and transmission mechanism of the guide needle 4 of the main needle, a feed motor and transmission structure of the left sub-needle bundle 1, and the feed motor and transmission mechanism of the right sub-needle bundle 2. When the sub needle bundles 1 and 2 are nested in the main needle when not working. When the main needle reaches a specified position, the internal guide needle 4 extends out. At this time, the head of the guide needle 4 is separated from the protective sheath 3 to form a sub needle guide slit, through which the sub-needles extend, and the drive motor of the sub- needles respectively controls the extension and retraction of the sub-needles. After the work of the sub-needle bundle is finished, the sub-needles are retracted, the guide slit is closed, the main needle exits, and the puncture is finished. Because of the rigidity of the main needle, it can accurately reach the rough positioning targets, while the flexibility of the sub-needles can adjust the positioning inaccuracy caused by complex changes in the environment. The multi-claw needle provides more puncture targets at one time and reduce the puncture injury.
[0035] Further, the realization of the automatic control of the multi-claw needle in the invention will be explained. As shown in Figure 3, the motor drive board is set in the control module and belongs to the motor control unit. The controller in the figure is the micro processing unit of the control module. After extracting the path information sent by the host computer, the controller calculates and generates the motor control amount and transmits it to the motor drive board. The motor drive board extracts a servo drive motor ID, position parameters, rotation speed parameters and other data from a communication command, provides a power amplification function, and sends the corresponding PWM voltage or current signals for motor control to the drive motors. Push-pull rods are arranged at tail parts of the main needle and the sub-needles of the multi-claw needle, and the motors repeatedly pull the push-pull rods through a gear set and a pull wire to realize a telescopic movement of corresponding mechanisms. The motors 1, 2 and 3 in Figure 3 correspondingly drive the left and right sub-needle bundles and the main needle of the multi-claw needle body to move.
[0036] Sensors 1, 2, and 3 are used to detect working states of motors 1, 2, and 3 and send the working states to the control module. The needle-tissue morphology may be obtained by ultrasonic waves when the multi-claw needle moves.
[0037] The present invention aims to make the multi-claw-needle automatic puncture apparatus move along the planned path. Because of the complex human environment, it is difficult to establish a multi-claw-needle movement model in the tissues, and the multi claw-needle automatic puncture control apparatus has multiple input and multiple output states, so the multi-input multi-output model-free adaptive control (MIMO-MFAC) algorithm is adopted to solve this problem. The basic idea of MIMO-MFAC is to establish a virtual dynamic linearization model at a current working point of a closed-loop controlled system to replace a general nonlinear discrete-time system, and introduce a concept of pseudo jacobian matrix (PJM) to estimate PJM online only by using input and output data of the system, so as to realize model-free adaptive control.
[0038] As shown in Figure 4, a flow of a MFAC algorithm-based multi-claw needle automatic puncture control method of the present invention is as follows. The planning module provides a target path of multi-claw needle, the sensing system provides a systematic running state of multi-claw needle, and the MIMO-MFAC controller adjusts the running state of the apparatus, calculates out control commands, and acts on the corresponding drive motors to drive the multi-claw needle body to move, finally realizing a mutual movement between needle tissues and achieving a purpose of accurate puncturing.
[0039] In the control module of the multi-claw needle automatic puncture control apparatus, the micro-processing unit obtains current positions of the three motors according to the sensors, and combines the path target positions, including tip positions of the left sub-needle bundle 1 and right sub-needle bundle 2 and the guide needle 4 of the main needle, to generate a position control amount of the motors. A motor controller is modelled, assuming that input physical quantity is represented by a sequence u(k) = [p, P2p3]
, where Pi,P2, P3 are the position control quantity of the three motors respectively and output physical quantity is represented by a sequence y(k) =
xi, YiZ, . -Xrj, Yrj, Zrj, --- x y,Yc'z], including the needle point position coordinates of all sub-needles and the main needle, where (x, yi, zu) indicates a needle tip position of an i-th left sub-needle, (xrj, y rzj) represents a needle tip position of an i-th right sub
needle, (xe, yc, ze) indicates a needle tip position of the guide needle of the main needle and k represents time k. In the embodiment of the present invention, each needle bundle has two sub-needles, i.e. i = 1,2;j = 1,2.
[0040] For the convenience of hardware implementation, the above-mentioned relationship between input physical quantity and output physical quantity is expressed by MIMO nonlinear discrete-time system as follows:
y(k + 1) = f [y(k), ... , y(k - ny), u(k), ... , u(k - na)] (1),
[0041] where y(k + 1) represents the output physical quantity at time k+1, y(k) represents the output physical quantity at time k, y(k - ny) represents the output
physical quantity at time k - ny, u(k) represents the input physical quantity at time k,
and u(k - n) represents the output physical quantity at time k - n"; ny and nu are
two unknown integers and represent different time of output and input respectively; f(-) is an unknown nonlinear function operator and represents the mathematical model of control logic in micro-processing unit. Formula (1) shows the relationship between the output physical quantity at the next time and the historical input physical quantity and the historical output physical quantity.
[0042] According to the CFDL data model theorem, when the system satisfies the assumptions of partial derivative continuity and Lipschitz condition, the nonlinear system (1) can be equivalently expressed as the following CFDL data model:
Ay(k + 1) = 0c(k)Au(k) (2),
[0043] where Ay(k + 1) indicates that increase or decrease of the output physical
quantity at time k+1 compared with the output physical quantity at the previou time, and Au(k) indicates the increase or decrease of the input physical quantity at time k compared with the input physical quantity at the previous time; c(k) is the pseudo jacobian matrix of the system at time k, as follows:
-P 1 (k) 012 (k) -- #iq(k)
0k)= 21 (k) 022 (k) --- (2q(k) RP
[0044] where RP q represents a set of real numbers with dimension p x q; q is equal to the dimension of the input sequence, and p is equal to the dimension of the output sequence. In the embodiment of the invention, the dimension of the input sequence is 3, and the dimension of the output sequence is 15. Pseudo-jacoby matrix is a concept in mathematical sense, which can't be expressed analytically, but its value can be estimated by the data of adjacent times. The estimation calculation of concrete matrix <0(k) is shown in formula (6). For the definition of pseudo-jacoby matrix, please refer to section 5.2.1 of Model-Free Adaptive Control-Theory and Application by Hou Zhongsheng published in June, 2013.
[0045] Formula (2) is an equivalent dynamic linearization representation of nonlinear system (1). It is a linear time-varying data model with simple incremental form for controller design. This model is only related to I/O data before the current time, which is essentially different from the mechanism model and models obtained by other linearization methods.
[0046] For the purpose of saving the execution energy of the control system and the possible damage caused by excessive control amount, and ensuring the tracking performance of the expected output signal as well, the following control input criterion
function J(u(k)) is considered:
J(u(k)) = Iy*(k + 1) - y(k + 1)112 + llu(k) - u(k - 1)112 (3),
[0047] where A > 0 is a weight factor, which is used to limit and contorl the change of
input quantity, y*(k + 1) is the expected output physical quantity of the system, which is
obtained from the commands sent by the host computer, and y(k + 1) represents the actual output physical quantity, which can be obtained from the detection of needle -tissue by ultrasonic sensor. |x1| means finding the 2 norm of matrix x.
[0048] By bringing formula (2) into formula (3), taking the derivative of u(k) and making the derivative 0, and simplifying the calculation formula, the following control law can be obtained: u(k) = u(k - 1) + (y*(k + 1) - y(k)) (4),
[0049] where p E (0,1] is the step factor, which is added to make the control algorithm more general and can be used to adjust the stability and convergence; the upper corner mark T indicates transposition, such as the transposition of matrix Oc(k) indicated by OT(k).
[0050] The estimation method of pseudo jacobian matrix Oc(k) is explained below.
[0051] For the nonlinear system (1) satisfying the above assumptions, it can be represented by dynamic linearization data model (2) with OT (k) in time-variing PJM parameters. Based on the minimization of the control input criterion function (3), the control algorithm (4) can be designed. In order to realize the control algorithm (4), the value of PJM needs to be known. Because the mathematical model of the system is unknown, PJM is a time varying parameter matrix, and its accurate true value is difficult to obtain. Therefore, it is necessary to design and estimate the value of PJM by using the input and output data of the controlled system.
[0052] As the PJM estimation value is obtained from the data sampled by the system, and the change of this data is random, it is easy to have a great influence on PJM estimation. On the one hand, to reduce the output deviation, on the other hand, to reduce the sensitivity of parameter estimation to individual data, the following PJM estimation criterion function
J(14(k)) is proposed:
J(.I(k)) = IAy(k) - Oc(k)(u(k - 1))112 + p||kc(k) - icP(k)|| (5),
[0053] where p is a weight factor, p > 0, which is used to adjust PJM. ic(k) is the estimated value of Pc(k).
[0054] By finding the extreme value of formula (5) about <,(k), the estimation algorithm of PJM can be obtained as follows:
ic(k) = ic(k - 1)+l(Ay(k)-& (k-1)AU T (k-1))AU T (k-1) (6), jy+||Au(k-1)||'
[0055] where q E (0,2] is the added step factor to make PJM estimation algorithm more
flexible and general.
[0056] The design of MFAC controller in compact format is described below.
[0057] Combining the PJM estimation algorithm (6) and control law (4) obtained above, a nonlinear scheme for MIMO is designed as follows:
= ic(k - 1) + -(k) 7(Ay(k)-c (k-1)AU T (k-1))U T (k-1) (7). p+||Au(k-1)||2
[0058] If Mij(k)| I El or I|Au(k - 1)11 E or sign(4it(k)) # ign( it(1)) , then
ii(k) = it(1), where i=1,2,...,p.
[0059] If Oij (k)| > E2 or sign( 3if(k)) # sign( ij (1)) , then ij (k) = ij (1) where i=1,2,...,p, j=1,2,...,q.
[0060] Then the control law is as follows:
u(k) = u(k - 1) + 2 (y*(k + 1) - y(k)) (8),
[0061] where E,E1,E2 are positive numbers, it(i) and ij(i) are set initial values,
sign(x) represents symbolic function, when x is greater than 0, sign(x)=1, otherwise sign(x)=-1.
[0062] The micro-processing unit of the control module calculates the Pc(k) according to the above process, and outputs the position control amountof the drive motors according to the control law.
[0063] With an arrangement of the above controller, the non-linear and uncertain interference puncturing process system adopts model-free adaptive control, which can be controlled only by historical input and output data without modeling, and realizes accurate automatic control of multi-claw needle puncture.
[0064] A tumor ablation system based on automatic multi-claw needle provided by the present invention is introduced in detail with the above specific examples. Any modification, equivalent substitution and improvement made by ordinary technicians in the field of the invention according to the above contents shall be included in the scope of protection of the present invention.
[0065] Although the invention has been described with reference to specific examples, it will be appreciated by those skilled in the art that the invention may be embodied in many other forms, in keeping with the broad principles and the spirit of the invention described herein.
[0066] The present invention and the described preferred embodiments specifically include at least one feature that is industrial applicable.
Claims (5)
1. A Model-Free Adaptive Control (MFAC) algorithm-based multi-claw needle automatic puncture control apparatus, comprising a control module and an execution mechanism, wherein the control module comprises a micro-processing unit and a motor control unit, wherein the micro-processing unit is used for analyzing a path tracking control command transmitted from a host computer, generating motor control amount, and outputting the motor control amount to the motor control unit, and the motor control unit amplifies the motor control amount and outputs it to the execution mechanism; the execution mechanism comprises a transmission drive module and a multi-claw needle body, wherein the transmission drive module comprises a transmission mechanism and drive motors; the multi-claw needle body is connected with the drive motors through the transmission mechanism, and the drive motors drive the multi-claw needle body to move according to the motor control amount; the multi-claw needle body includes a rigid main needle and flexible sub-needle bundles, wherein the main needle and each flexible sub needle bundle are connected with a separate drive motor respectively, and the sub-needle bundles are embedded in the main needle in a non-working state; in a working state, a drive motor of the main needle pushes the main needle to open a guide slit, and a drive motor of the sub-needle bundles drives each flexible sub-needle to expand and contract, so that sub needles act on target positions in a divergent manner; the micro-processing unit of the control module outputs motor position control amount according to historical needle tip positions of the main needle, each flexible sub-needle and historical positions of the motors.
2. The apparatus according to claim 1, wherein the multi-claw needle automatic puncture control apparatus acquires positions of the drive motors and needle tip positions of the multi-claw needle body through sensors.
3. The apparatus according to claim 1, wherein a control law of the micro-processing unit on the motor position control amount is as follows:
u(k) = u(k - 1) + '0P,~)12(y*(k + 1) - y(k)) (1), A+||p- T(k)|
wherein u(k) represents motor control amount at time k and includes the position control amount of drive motors of the main needle and each sub-needle bundle; u(k - 1) represents motor control amount at time k-1; weight factor / > 0; step size factor p E (0,1]; y(k) represents actual needle positions of the multi-claw needle body at time k, including needle positions of all sub-needles and the main needle, which are obtained by ultrasonic detection; y*(k + 1) represents expected needle positions of the multi-claw needle body at time k-1, which is obtained from a command transmitted by a host computer; CP(k) is a pseudo jacobian matrix at time k, &c(k) is estimated value of the c(k) and
Nj(k) is transposition of a matrix ic(k).
4. The apparatus according to claim 3, wherein the micro-processing unit estimates the pseudo jacobian matrix Pc(k) asfollows:
designing estimation criterion function J(OT(k)) of the pseudo jacobian matrix Oc(k)
as follows:
J((I(k)) = IAy(k) - Oc(k)(Au(k - 1))112 + pi|c(k) - Pc(k)|| (2), wherein Ay(k) represents increase or decrease of output physical quantity at time k compared with output physical quantity at previous time; Au(k - 1) indicates the increase or decrease of input physical quantity at time k-1 compared with input physical quantity at previous time; p is a set weight factor; by finding an extreme value of formula (2) about Oc(k), an estimated value pc(k) is obtained as follows:
ic(k) = Pc(k - 1) + f(Ay(k)-& (k-)U T (k))U 2 T (k-i) (3), p+|Au(k-1)|I
if JMij(k)| I Ei or IAu(k - 1)11 E or sign( it(k)) # sign( it(1)) , then
jii(k) = jj (1), where i= 1,2,...,p; if Ji (k)I > E2 or sign(oij(k)) # sign( ij (1)) , then ij (k) = jj (1) , where i= 1,2,...,p, j= 1,2,...,q; wherein E,E1,E2 are positive numbers, ii(k) and ij(k) are elements in matrix c(k);
jj(i) and j(i) are set initiavalues; sign(x) represents symbolic function, when x is greater than 0, sign(x)=1, otherwise sign(x)=-1.
5. A Model-Free Adaptive Control (MFAC) algorithm-based multi-claw needle automatic puncture control method, comprising:
Si, obtaining needle tip positions of a main needle and all sub-needles and positions of motors from sensors by a multi-claw needle automatic puncture control apparatus, obtaining desired needle tip positions from a command of a host computer, and outputting motor control amount; wherein the motor control amount is expressed as input physical quantity u(k), and u(k) includes position control amount of drive motors of the main needle and each sub-needle bundle at time k; the needle tip positions of the main needle and all the sub-needles at the time k are expressed output physical quantity y(k); historical output physical quantity and input physical quantity and output physical quantity at a next time are represented by a nonlinear discrete-time system with multiple inputs and multiple outputs; S2, converting the nonlinear discrete-time system in Si into a compact form dynamic linearization data model and expressing as follows: Ay(k + 1) = 0c(k)Au(k) (4), wherein Ay(k + 1) indicates that increase or decrease of output physical quantity at time k+1 compared with output physical quantity at previous time, and Au(k) indicates the increase or decrease of input physical quantity at time k compared with input physical quantity at previous time; 0c(k) is a pseudo jacobian matrix of the nonlinear discrete time system at time k; S3, in order to ensure desired output physical quantity, obtaining a control law according to following control input criterion function J(u(k)); J(u(k)) = I|y*(k + 1) - y(k + 1)112 + 2||(k) - u(k - 1)112 (5), wherein weight factor A> 0; y*(k + 1) is expected output physical quantity at time k+1; y(k + 1) is actual output physical quantity at time k+1; u(k - 1) is input physical quantity at time k-1; by putting formula (4) into formula (5), and taking the derivative of u(k) and making derivative take 0, and following control law is obtained:
u(k) = u(k - 1) + 2 (y*(k + 1) - y(k)) (6),
wherein step size p E (0,1]; OT (k) is transposition of of matrix Oc(k);
S4, estimating the pseudo jacobian matrix 0c(k) using estimiation criterion function
J(OC1(k)) as follows:
I(k) = ||Ay(k) - Oc(k)(Au(k - 1))||2+ p||Oc(k) - c (k)|| (7), wherein Ay(k) represents the increase or decrease value of the output physical quantity at time k compared with the output physical quantity at the previous time; Au(k - 1) represents the increase or decrease value of the input physical quantity at the time k-1 compared with the input physical quantity at the previous time; p is a set weight factor;
ic(k) is an estimated value of Oc(k); by finding an extreme value of formula (5) about Oc(k), an estimated value ic(k) is obtained as follows:
Sc-k) = ic(k -1) + l(Ay(k)-& (k-1)AU T (k-1))AU T (k-1) (8), +||Au(k-1)||2 if JMij(k)| I E or IAu(k - 1)11 E or sign( it(k)) # sign( it(1)) , then
ii(k) = jI(1), where i=1,2,...,p; if Ji (k)| > E2 or sign(oij(k)) # sign( ij (1)) , then ij (k) = jj (1) , where i=1,2,...,p, j= 1,2,...,q; wherein E, El and E2 are positive numbers, ii(k) and ij(k) ar element of matrix
ic(k); Sit(1) and ij(1) are set initial values, sign(x) represents symbolic function, when x is greater than 0, sign(x)=1, otherwise sign(x)=-1; and S5, obtaining a control law at time k according to the estimated value ic(k) ofthepseudo jacobian matrix:
u(k) = u(k - 1) + 2 (y*(k + 1) - y(k)) (9),
wherein dj(k) is transposition of the matrix Pc(k); the calculated u(k) is the motor control amount output by the control module at time k.
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