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虚拟血管介入手术中力反馈控制系统的性能优化

Performance optimization of force feedback control system in virtual vascular intervention surgery.

作者信息

Hu Zhi, Cai Ping, Qin Peng, Xie Le

机构信息

School of Electronic, Information and Electrical Engineering, Shanghai Jiao Tong University, Shanghai 200240, China.

Digital Manufacturing Technology Center, Shanghai Jiao Tong University, Shanghai 200240, China.

出版信息

Comput Math Methods Med. 2014;2014:673415. doi: 10.1155/2014/673415. Epub 2014 Sep 1.

DOI:10.1155/2014/673415
PMID:25254063
原文链接:https://pmc.ncbi.nlm.nih.gov/articles/PMC4165566/
Abstract

In virtual surgery of minimally invasive vascular intervention, the force feedback is transmitted through the flexible guide wire. The disturbance caused by the flexible deformation would affect the fidelity of the VR (virtual reality) training. SMC (sliding mode control) strategy with delayed-output observer is adopted to suppress the effect of flexible deformation. In this study, the control performance of the strategy is assessed when the length of guide wire between actuator and the operating point changes. The performance assessment results demonstrate the effectiveness of the proposed method and find the optimal length of guide wire for the force feedback control.

摘要

在微创血管介入虚拟手术中，力反馈通过柔性导丝传递。柔性变形引起的干扰会影响虚拟现实（VR）训练的逼真度。采用带有延迟输出观测器的滑模控制（SMC）策略来抑制柔性变形的影响。在本研究中，评估了在致动器与操作点之间的导丝长度变化时该策略的控制性能。性能评估结果证明了所提方法的有效性，并找到了用于力反馈控制的导丝最佳长度。

https://cdn.ncbi.nlm.nih.gov/pmc/blobs/4e07/4165566/51d4431d70b1/CMMM2014-673415.013.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/4e07/4165566/ddac5292182c/CMMM2014-673415.001.jpg
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https://cdn.ncbi.nlm.nih.gov/pmc/blobs/4e07/4165566/682c91d39b8c/CMMM2014-673415.008.jpg
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https://cdn.ncbi.nlm.nih.gov/pmc/blobs/4e07/4165566/51d4431d70b1/CMMM2014-673415.013.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/4e07/4165566/ddac5292182c/CMMM2014-673415.001.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/4e07/4165566/fb9fa35c9809/CMMM2014-673415.002.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/4e07/4165566/b631d8672feb/CMMM2014-673415.003.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/4e07/4165566/d989fdb27d5d/CMMM2014-673415.004.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/4e07/4165566/ac613d66148d/CMMM2014-673415.005.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/4e07/4165566/99dd626202d4/CMMM2014-673415.006.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/4e07/4165566/e9f5c9ca7f9f/CMMM2014-673415.007.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/4e07/4165566/682c91d39b8c/CMMM2014-673415.008.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/4e07/4165566/f18e5cc5889b/CMMM2014-673415.009.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/4e07/4165566/727f3ad9a1ca/CMMM2014-673415.010.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/4e07/4165566/0a58c0d1a142/CMMM2014-673415.011.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/4e07/4165566/8d5986cb3728/CMMM2014-673415.012.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/4e07/4165566/51d4431d70b1/CMMM2014-673415.013.jpg

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