CN110244560A - A kind of flexible needle target spot tracing control method based on 2 type fuzzy logic controller of section - Google Patents
A kind of flexible needle target spot tracing control method based on 2 type fuzzy logic controller of section Download PDFInfo
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- G—PHYSICS
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- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B13/00—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion
- G05B13/02—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric
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- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/34—Trocars; Puncturing needles
- A61B17/3403—Needle locating or guiding means
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- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
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Abstract
The invention discloses a kind of flexible needle target spot tracing control methods based on 2 type fuzzy logic controller of section, belong to control algolithm field.Flexible needle kinetic model is being established first, is utilizing position deviation S, position deviation change rateCorner deviationWith corner deviation variation rateAs the input of 2 type fuzzy logic controller of section, the rotational angular velocity of absolute velocity v and the flexible needle deflection of needle pointFor output.Then accurate input quantity is obscured into 2 type fuzzy sets, by the inference engine of IF-THEN rule base, obtains the output fuzzy set of 2 type of section, and carry out drop type and defuzzification, obtains absolute velocity v and rotational angular velocityOutput.By absolute velocity v and rotational angular velocityAs the input of flexible needle, the actual path of flexible needle output is obtained, and calculates the position deviation and angular deviation with desired trajectory, returns to the input of logic controller, until position reaches target position.Calculation amount of the present invention reduces, and calculating speed is accelerated, and flexible needle responds faster.
Description
Technical field
The invention belongs to control algolithm fields, are related to a kind of modeling of control system method, specifically a kind of to be based on 2 type of section
The flexible needle target spot tracing control method of fuzzy logic controller.
Background technique
In recent years, medical robot technology is quickly grown, and robot assisted Minimally Invasive Surgery is at primary study object.It punctures
Art is as the typical technology in micro-wound surgical operation, in terms of drug is placed, organizes biopsy, local anaesthesia and short distance
There is remarkable effect.
In traditional puncturing operation, due to being influenced in surgical procedure by doctor's mood and experience etc., puncture
The effect of operation it is difficult to ensure that, and will increase the pain of patient in surgical procedure.And the puncture track base of traditional rigid needle
This is straight line, in the case of more complex, such as encounters organ, blood vessel or nerve on puncturing track, it is difficult to make
The reaction of effect.
It compares, flexible needle is made of Nitinol, and preferably, needle point uses asymmetric inclined-plane to elasticity, when puncturing by group
The power heterogeneous of application is knitted, needle point can deflect towards Impact direction, control needle point direction by rotation flexible needle to control
The deflection direction of flexible needle processed, punctures flexible needle according to desired trajectory.And the needle tubing of flexible needle is more elongated, can be with
Reduce operative incision, reduces the sense of discomfort of operation, post-operative recovery faster, and reduces the risk of operation.
Whether puncturing operation successfully essentially consists in the puncture precision that whether can reach required, needs when puncture precision is not able to satisfy
When asking, situations such as will cause tissue damage or inadequate exit dose, increase the pain of patient.And due to the anisotropy of tissue and
Individual difference, in flexible needle feeding, not can guarantee corner identical as target rotation angle, so being bound to deposit in actual operation
In targeting error.Therefore it relies solely on flexible needle puncture path and plans that being difficult to realize scheduled puncture track moves and reach target
Point needs to propose new control strategy and method for this problem.
Research at this stage about flexible needle model and path planning is more, but rarely has the research to control is punctured.
Summary of the invention
In order to enable flexible needle quickly and accurately to reach predetermined target spot as far as possible, final error is controlled in acceptable model
In enclosing；The invention proposes a kind of flexible needle target spot tracing control methods based on 2 type fuzzy logic controller of section, and with imitative
Very test to control result.
Specific step is as follows:
Step 1: establishing flexible needle kinetic model at inertial coodinate system XOY, the relevant parameter of model is obtained；
Flexible needle kinetic model carries out kinematics analysis to the intersection point of flexible needle needle shaft and needle slope；
Relevant parameter includes: the absolute velocity v of flexible needle needle point, flexible needle deflection angleThe angle of rotation of flexible needle deflection
SpeedCorner deviationWith position deviation S；
Firstly, flexible needle kinetic model is as follows:
It is the speed of x-axis direction under inertial coodinate system XOY,It is the speed in y-axis direction under inertial coodinate system XOY；
According to flexible needle deflection angleCalculate the inclined rotational angular velocity of needle of flexible needle
Wherein r is the radius of curvature of flexible needle.
The corner deviation of flexible needleAre as follows:
The position deviation S of flexible needle is calculated according to the desired trajectory and actual path of flexible needle:
For the desired trajectory of flexible needle,For the actual path of flexible needle.
Step 2: utilizing the position deviation S of kinematics model, position deviation change rateCorner deviationIt is inclined with corner
Poor change rateAs the input of 2 type fuzzy logic controller of section, the rotation of absolute velocity v and the flexible needle deflection of needle point
Angular speedFor output.
Accurate input quantity
Output quantity
Step 3: accurate input quantity x obscures into the 2 type fuzzy sets with language variable description after being blurred device；
2 type fuzzy sets are indicated with uncertain standard deviation Gauss member function；
Step 4: establishing the rule base of IF-THEN, 2 type fuzzy sets are obtained into 2 type of section by the inference engine of rule base
Output fuzzy set；
Rule base includes the rule and rotational angular velocity of absolute velocity vRule, the regular item number of the two is indefinite；Specifically
Form are as follows:
……
That is the first rule of absolute velocity v: if position deviation S is zero, position deviation change rateFor positive value and absolutely
Value is big, then absolute velocity v is negative value and absolute value is big；The magnitude range of absolute value is according to artificial settings.
……
Rotational angular velocityThe first rule: if corner deviationFor positive value and absolute value it is big, corner change of error
RateFor positive value and absolute value it is big, then deflection angleFor negative value and absolute value it is big；
Step 5: carry out drop type and defuzzification to the output fuzzy set inferred, final absolute velocity v and soft is obtained
Property needle deflection rotational angular velocityOutput.
Export u1With u2Defuzzification use centre of area method, using two different rule bases.
Step 6: the rotational angular velocity that final absolute velocity v and flexible needle are deflectedAs the input of flexible needle, into
The targeting of row flexible needle is tracked.
Step 7: the targeting tracking according to flexible needle obtains the actual path of flexible needle outputAnd it calculates
With the position deviation and angular deviation of desired trajectory, two deviations are fed back to 2 type fuzzy logic control of section by return step two
It is controlled after device as input, until position deviation is 0 or reaches target position.
The present invention has the advantages that
A kind of flexible needle target spot tracing control method based on 2 type fuzzy logic controller of section is pasted using 2 pattern of section
Logic controller carries out target spot Tracing Control, using the control of this controller since rule base database is to set, only
The data stored need to be read, so calculation amount reduces, calculating speed is accelerated, and flexible needle responds faster, and can be right
It is reduced in the uncertainty of system.
Detailed description of the invention
Fig. 1 is the flexible needle kinetic model that the present invention is established at inertial coodinate system XOY；
Fig. 2 is a kind of stream of the flexible needle target spot tracing control method based on 2 type fuzzy logic controller of section of the present invention
Cheng Tu；
Fig. 3 is the rule base for the IF-THEN that the present invention establishes；
Fig. 4 is the targeting tracking schematic diagram that the present invention controls flexible needle by 2 type fuzzy logic controller of section；
Fig. 5 is the schematic diagram of 2 type fuzzy logic controller of section of the present invention.
Specific embodiment
Below in conjunction with attached drawing and example, the present invention is described in further detail.
This sends out the flexible needle target spot tracing control method based on 2 type fuzzy logic controller of section a kind of, as shown in figure 5,
By establishing flexible needle kinetic model, using the parameter of kinematics model as the input of 2 type fuzzy logic controller of section,
After being blurred device, 2 type fuzzy sets are obtained；It establishes rule base and 2 type fuzzy sets is obtained into output fuzzy set by inference engine；
Drop type and defuzzification are carried out, the rotational angular velocity of final absolute velocity v and flexible needle deflection are obtainedOutput, as flexibility
The input of needle carries out the targeting tracking of flexible needle, while by the deviation of the physical location of the flexible needle of tracking and desired locations, leading to
2 type fuzzy logic controller of section is crossed to control puncture speed and rotational angle.
As shown in Figure 2, the specific steps are as follows:
Step 1: establishing flexible needle kinetic model at inertial coodinate system XOY, the relevant parameter of model is obtained；
As shown in Figure 1, flexible needle kinetic model carries out kinematics analysis to the intersection point of flexible needle needle shaft and needle slope；
Relevant parameter includes: the absolute velocity v of flexible needle needle point, flexible needle deflection angleThe angle of rotation of flexible needle deflection
SpeedCorner deviationWith position deviation S；
Firstly, establishing flexible needle model at inertial coodinate system XOY
It is the speed of x-axis direction under inertial coodinate system XOY,It is the speed in y-axis direction under inertial coodinate system XOY；
It acquires
According to flexible needle deflection angleCalculate the inclined rotational angular velocity of needle of flexible needle
Wherein r is the radius of curvature of flexible needle.
The corner deviation of flexible needleAre as follows:
The position deviation S of flexible needle is calculated according to the desired trajectory and actual path of flexible needle:
For the desired trajectory of flexible needle,For the actual path of flexible needle.
Step 2: utilizing the position deviation S of kinematics model, position deviation change rateCorner deviationIt is inclined with corner
Poor change rateAs the input of 2 type fuzzy logic controller of section, the rotation of absolute velocity v and the flexible needle deflection of needle point
Angular speedFor output.
It is as shown in Figure 4 that schematic diagram is tracked by the targeting that 2 type fuzzy logic controller of section controls flexible needle.
The basic skills of design of Fuzzy Controller is:
1. determining the input variable and output variable of fuzzy controller
2. designing the fuzzy rule of fuzzy logic controller；
3. carrying out blurring reconciliation fuzzification operation, the absolute velocity v of flexible needle and the rotational angular velocity of deflection are obtained
2 type fuzzy logic controller of section includes the inference engine and ambiguity solution of blurring, rule base, due to inference engine
Output is 2 type fuzzy sets, so, ambiguity solution part includes drop type device and defuzzification device two parts.
Accurate input quantity
Output quantity
Step 3: accurate input quantity x obscures into available language variable description after being blurred device, by accurate input
2 type fuzzy sets；
The uncertain standard deviation Gauss member function of 2 type fuzzy setsTo indicate, former piece membership functionFor
Uncertain mean value membership function, it may be assumed that
xk: accurate input quantity x, k=1,2,3,4；
Fixed average value；
Uncertain standard deviation, value range are
Uncertain average value, value range are
Fixed standard deviation；
With position deviation S, position deviation change rateFor the absolute velocity v of needle point, fuzzification process is carried out are as follows:
Wherein X is one 2 dimension cartesian product space, X=X1×X2, wherein XkIt is input xkMeasurement field (k=1,2).Its
InIt is indicated by following membership function:
In addition,
The two formulas are brought intoIn, it can obtain:
Corresponding any M it is regular under N rule in the triggering part of fuzzy logic system, wherein N≤M.So this
Export the membership function of 2 pattern fuzzy logic collection are as follows:
Complete the blurring of accurate input quantity.
Step 4: establishing the rule base of IF-THEN, 2 type fuzzy sets are obtained into 2 type of section by the inference engine of rule base
Output fuzzy set；
As shown in figure 3, setting five linguistic variables of NB, NS, Z, PS, PB, i.e., it is negative big, bear it is small, zero, it is just small, five honest
Grade.Since position deviation is not less than zero always, so there is the dependency rule 3 × 5=15 and rotational angular velocity of absolute velocity vDependency rule 5 × 5=25, rule base totally 40 rules；Concrete form are as follows:
……
That is the first rule of absolute velocity v: if position deviation S is zero, position deviation change rateFor positive value and absolutely
Value is big, then absolute velocity v is negative value and absolute value is big；The magnitude range of absolute value is according to artificial settings.
……
Rotational angular velocityThe first rule: if corner deviationFor positive value and absolute value it is big, corner change of error
RateFor positive value and absolute value it is big, then deflection angleFor negative value and absolute value it is big；
And so on, it is calculated according to value given in rule base.
Step 5: carry out drop type and defuzzification to the output fuzzy set inferred, final absolute velocity v and soft is obtained
Property needle deflection rotational angular velocityOutput.
Generally there are three types of modes for de-fuzzy: centre of area method, area equisection method and extremum method.U is exported in the present invention1With
u2Defuzzification use centre of area method, using two different rule bases.
For a 2 type fuzzy logic system of section, accurate output quantity is exactly the center gathered after drop type.For one
The triggering intensity of a 2 type fuzzy logic system of section, input and former piece operation is 1 type fuzzy set of a section, and is only depended on
In its ultra-left pointf lAnd rightest pointSo output u1∈ U is represented as:
fi: 1 type fuzzy set F of smallest intervaliIn element；
The centroid of the 2 type fuzzy set of section of output；
The minimum value of the absolute velocity v of needle point is usedIt indicates, it may be assumed that
Similar, the maximum value of the absolute velocity v of needle point is usedIt indicates, it may be assumed that
WithWithAverage value come indicate it ambiguity solution as a result, i.e. output be
Similarly, u2That is rotational angular velocityCalculation method and u1It is identical.
Step 6: the rotational angular velocity that final absolute velocity v and flexible needle are deflectedAs the input of flexible needle, into
The targeting of row flexible needle is tracked.
Step 7: the targeting tracking according to flexible needle obtains the actual path of flexible needle outputAnd it calculates
With the position deviation and angular deviation of desired trajectory, two deviations are fed back to 2 type fuzzy logic control of section by return step two
The control of flexible needle is carried out after device as input, until position deviation is 0 or reaches target position.
Claims (2)
1. a kind of flexible needle target spot tracing control method based on 2 type fuzzy logic controller of section, which is characterized in that specific step
It is rapid as follows:
Step 1: establishing flexible needle kinetic model at inertial coodinate system XOY, the relevant parameter of model is obtained；
Flexible needle kinetic model carries out kinematics analysis to the intersection point of flexible needle needle shaft and needle slope；
Relevant parameter includes: the absolute velocity v of flexible needle needle point, flexible needle deflection angleThe rotational angular velocity of flexible needle deflectionCorner deviationWith position deviation S；
Firstly, flexible needle kinetic model is as follows:
It is the speed of x-axis direction under inertial coodinate system XOY,It is the speed in y-axis direction under inertial coodinate system XOY；
According to flexible needle deflection angleCalculate the inclined rotational angular velocity of needle of flexible needle
Wherein r is the radius of curvature of flexible needle；
The corner deviation of flexible needleAre as follows:
The position deviation S of flexible needle is calculated according to the desired trajectory and actual path of flexible needle:
For the desired trajectory of flexible needle,For the actual path of flexible needle；
Step 2: utilizing the position deviation S of kinematics model, position deviation change rateCorner deviationWith corner change of error
RateAs the input of 2 type fuzzy logic controller of section, the rotational angular velocity of absolute velocity v and the flexible needle deflection of needle point
For output；
Accurate input quantity
Output quantity
Step 3: accurate input quantity x obscures into the 2 type fuzzy sets with language variable description after being blurred device；
2 type fuzzy sets are indicated with uncertain standard deviation Gauss member function；
Step 4: establishing the rule base of IF-THEN, 2 type fuzzy sets are obtained into the defeated of 2 type of section by the inference engine of rule base
Fuzzy set out；
Step 5: carrying out drop type and defuzzification to the output fuzzy set inferred, final absolute velocity v and flexible needle is obtained
The rotational angular velocity of deflectionOutput；
Export u1With u2Defuzzification use centre of area method, using two different rule bases；
Step 6: the rotational angular velocity that final absolute velocity v and flexible needle are deflectedAs the input of flexible needle, carry out soft
Property needle targeting tracking；
Step 7: the targeting tracking according to flexible needle obtains the actual path of flexible needle outputAnd calculate with it is pre-
The position deviation and angular deviation of fixed track, return step two, after two deviations are fed back to 2 type fuzzy logic controller of section
It is controlled as input, until position deviation is 0 or reaches target position.
2. a kind of flexible needle target spot tracing control method based on 2 type fuzzy logic controller of section as described in claim 1,
It is characterized in that, rule base described in step 4 includes the rule and rotational angular velocity of absolute velocity vRule, the two
Regular item number is indefinite；Concrete form are as follows:
……
That is the first rule of absolute velocity v: if position deviation S is zero, position deviation change rateFor positive value and absolute value
Greatly, then absolute velocity v is negative value and absolute value is big；The magnitude range of absolute value is according to artificial settings；
……
Rotational angular velocityThe first rule: if corner deviationFor positive value and absolute value it is big, corner deviation variation rate
For positive value and absolute value it is big, then deflection angleFor negative value and absolute value it is big.
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| CN202010461438.5A CN111650831A (en) | 2019-05-29 | 2020-05-27 | Design of interval 2 type fuzzy logic controller of virtual flexible needle in medical robot controller |
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| CN111522337A (en) * | 2020-04-03 | 2020-08-11 | 浙江工业大学 | Fuzzy control-based multi-driving-wheel AGV navigation method |
| CN111650831A (en) * | 2019-05-29 | 2020-09-11 | 北京航空航天大学 | Design of interval 2 type fuzzy logic controller of virtual flexible needle in medical robot controller |
| CN112338913A (en) * | 2020-10-27 | 2021-02-09 | 四川大学 | Trajectory tracking control method and system of multi-joint flexible mechanical arm |
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| CN112270250B (en) * | 2020-10-26 | 2024-04-09 | 浙江理工大学 | Target tracking method for tracking ground moving target by unmanned aerial vehicle |
| CN116048002B (en) * | 2023-04-03 | 2023-06-13 | 中科航迈数控软件(深圳)有限公司 | Virtual axis motion control method, device and equipment for numerical control machine tool and storage medium |
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| CN111650831A (en) * | 2019-05-29 | 2020-09-11 | 北京航空航天大学 | Design of interval 2 type fuzzy logic controller of virtual flexible needle in medical robot controller |
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