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首页> 外文期刊>Mechatronics, IEEE/ASME Transactions on >Construction of Controller Model of Notch Continuum Manipulator for Laryngeal Surgery Based on Hybrid Method
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Construction of Controller Model of Notch Continuum Manipulator for Laryngeal Surgery Based on Hybrid Method

机译：基于杂交法的喉部手术控制器模型施工模型

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摘要

The laryngeal surgery is usually performed with rigid surgical instruments. However, those instruments inevitably cause tissue damage. A novel notch continuum manipulator for laryngeal surgery is proposed. The deformation of the notch continuum manipulator is highly nonlinear. The controller is difficult to construct. The model-based modeling strategy from micro to macro is adopted for forward kinematics. The proposed notch continuum manipulator is modeled as a series of flexible units. Based on the mechanical model and Denavit-Hartenberg method, the mapping from the driven space to the Cartesian space is constructed. The model-free strategy based on the forward kinematics and machine learning is adopted to provide an approximate solution for the inverse kinematics. Therefore, combining the advantages of model-free and model-based strategies, a hybrid method can be proposed to accurately model and solve the kinematics of a class of continuum manipulators. The experimental results obtained through the prototype show that the proposed controller model can meet the actual engineering requirement.
机译：喉手术通常是刚性的手术器械进行。但是，这些仪器势必造成组织损伤。喉癌手术的一种新的缺口连续机械手建议。缺口连续机械手的变形是高度非线性的。控制器难以构建体。从微观到宏观的基于模型的建模策略是采用正运动学。所提出的缺口连续机械手被设计成一系列灵活的单位。基于机械模型和Denavit-Hartenberg的方法，从从动空间到笛卡尔空间的映射被构造。基于前向运动和机器学习免费模式的策略，采用以提供逆运动学的近似解。因此，结合的模型的自由和基于模型的策略的优点，混合方法可以提出准确模型和解决一类的连续操纵器的运动学。实验结果通过雏形显现获得，所提出的控制器模型能满足工程实际需要。

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