Ma Xu, Zhou Jinpeng, Zhang Xu, Zhou Qi
Tianjin Key Laboratory for Control Theory & Applications in Complicated Industry Systems, College of Electrical and Electronic Engineering, Tianjin University of Technology, Tianjin, China 300384.
Tianjin Key Laboratory of High Speed Cutting and Precision Machining, School of Mechanical Engineering, Tianjin University of Technology and Education, Tianjin, China 300222.
Appl Bionics Biomech. 2020 Dec 23;2020:8870106. doi: 10.1155/2020/8870106. eCollection 2020.
In the process of artificial interventional therapy, the operation of artificial catheter is not accurate, which will bring strong radiation damage to surgeons. The purpose of this study is to develop a catheter operating system of surgical robot to assist doctors in remote operation and avoid the influence of radiation. BP neural network plays an important role in the flexibility and rapidity of control. According to the actual output of the system, the control parameters of the controller are constantly adjusted to achieve better output effect. This paper introduces the practical application of BP neural network PID controller in the remote operation of the system and compares with the traditional PID controller. The results show that the new control algorithm is feasible and effective. The results show that the synchronization performance of BP neural network PID controller is better than that of traditional PID controller.
在人工介入治疗过程中，人工导管操作不准确会给外科医生带来强烈的辐射损伤。本研究的目的是开发一种手术机器人导管操作系统，以协助医生进行远程操作并避免辐射影响。BP神经网络在控制的灵活性和快速性方面发挥着重要作用。根据系统的实际输出，不断调整控制器的控制参数，以达到更好的输出效果。本文介绍了BP神经网络PID控制器在系统远程操作中的实际应用，并与传统PID控制器进行了比较。结果表明，新的控制算法是可行且有效的。结果表明，BP神经网络PID控制器的同步性能优于传统PID控制器。
