广东工业大学学报 ›› 2023, Vol. 40 ›› Issue (01): 68-76.doi: 10.12052/gdutxb.210120

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一种核磁共振兼容液压驱动穿刺手术机器人的动力学建模及H∞控制方法研究

黄芳, 邱榆富, 郭靖   

  1. 广东工业大学 自动化学院，广东 广州 510006
  • 收稿日期:2021-08-10 出版日期:2023-01-25 发布日期:2023-01-12
  • 通信作者: 郭靖(1986-),男,副教授,博士,主要研究方向为遥操作、手术机器人,E-mail:jing.guo@gdut.edu.cn
  • 作者简介:黄芳(1999-),女,硕士研究生,主要研究方向为手术机器人
  • 基金资助:
    国家自然科学基金青年基金资助项目(61803103)

Dynamic Modeling and H∞ Control Method of an MRI-compatible Hydraulically Needle Insertion Robot

Huang Fang, Qiu Yu-fu, Guo Jing   

  1. School of Automation, Guangdong University of Technology, Guangzhou 510006, China
  • Received:2021-08-10 Online:2023-01-25 Published:2023-01-12

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摘要： 脑瘤是影响国民健康状况的重大难题。为了确定脑瘤的发展程度，以确定下一步治疗方案，通常需要对脑瘤组织进行穿刺活检手术。由于核磁共振成像(Magnetic Resonance Imaging, MRI)对软组织有更好的分辨率，常用来检测脑部肿瘤。因此，针对MRI兼容的机器人的相关研究是非常必要的。本文基于一种核磁共振兼容的液压驱动穿刺手术机器人，根据液压连通器的原理，推导了该机器人的运动学模型，并基于流体力学的相关理论，得到了该机器人的动力学模型。为了精确控制所设计的机器人系统，根据H∞控制理论设计了该液压驱动系统的状态反馈H∞控制率，使机器人可以快速、稳定地跟踪目标信号。最后，通过实验研究，该机器人系统的综合定位精度为0.56 mm，在x轴、y轴、z轴、俯仰轴和横滚轴上的平均定位精度分别为0.41 mm、0.6 mm、0.67 mm、0.886°和1.17°。研究结果验证了机器人辅助定位穿刺针的性能，所建立的动力学模型和控制方法对穿刺机器人的控制算法研究有一定的参考价值。

关键词: 核磁共振兼容, 穿刺活检手术, 机器人, H∞控制

Abstract: Brain tumors are a major problem affecting the health status of the nation. To determine the extent of brain tumor in order to determine the next step in treatment, a puncture biopsy procedure of brain tumor tissue is often required. Magnetic resonance imaging (MRI) is commonly used to detect brain tumors due to its better soft-tissue resolution. Therefore, research related to MRI-compatible robots is necessary. Based on an MRI-compatible hydraulically driven puncture surgery robot, the kinematic model of the robot is derived based on the principle of hydraulic linker, and the dynamic model of the robot is obtained based on the relevant theory of fluid dynamics. In order to realize the accurate control of the designed robot system, the state feedback H∞ control rate of this hydraulically driven system is designed according to the H∞ control theory, which enables the robot to track the target signal quickly and stably. Finally, the average positioning accuracy of the designed robot system in x-axis, y-axis, z-axis, pitch-axis and roll-axis are obtained through experimental studies, and they are, respectively, 0.41 mm, 0.6 mm, 0.67 mm, 0.886° and 1.17°. Experimental results verify the performance of robot-assisted positioning puncture needles, and the dynamic model and control method of the robot have been given, which provide certain reference value for the research of the control algorithm of puncture robots.

Key words: MRI-compatible, needle biopsy, robotic system, H∞ control

中图分类号: 

  • TP242
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