集成技术2025，Vol.14Issue(2)：3-12,10.DOI:10.12146/j.issn.2095-3135.20240926001
基于神经动力学优化的柔性内窥镜机器人最优遥操作控制
Optimal Teleoperation Control for Flexible Endoscopic Robots Based on Neurodynamic Optimization
摘要
Abstract
Flexible endoscopic robots,with their continuum structural characteristics,demonstrate unique advantages in minimally invasive surgery.However,the inherent nonlinear deformation features of continuum structures pose significant challenges to motion control precision.To address this technical bottleneck,this paper proposes an optimal teleoperation control method for flexible endoscopic robots based on neurodynamic optimization.First,a master-slave motion mapping mechanism in image space is established,coupled with a kinematic model of the flexible endoscope,to achieve accurate mapping between image feature velocities and driving velocities.Second,joint motion constraints are incorporated to formulate the robot control as a quadratic programming based optimal control problem,which is efficiently solved using a neurodynamic-based real-time solver.Experimental validation is conducted on a ureteroscopic robotic platform.Results demonstrate that the proposed method effectively suppresses manual operation errors and velocity oscillations,maintaining target tracking errors within 2.5%while significantly enhancing the accuracy and stability of instrument manipulation during lithotripsy procedures.关键词
柔性内窥镜机器人/主从遥操作/神经动力学优化/最优控制Key words
flexible endoscopic robots/master-slave teleoperation/neurodynamic optimization/optimal control分类
计算机与自动化引用本文复制引用
张杰阳,何帅,邓震,何炳蔚..基于神经动力学优化的柔性内窥镜机器人最优遥操作控制[J].集成技术,2025,14(2):3-12,10.基金项目
福建省科技厅对外合作项目(2024I0005) （2024I0005）
福建省卫生健康委重大科研专项(2021ZD01003) This work is supported by Science and Technology Program of Fujian(2024I0005),and Health Major Scientific Research Program of Fujian(2021ZD01003) （2021ZD01003）
