柔性输尿管镜末端偏转运动的迟滞特性建模与运动补偿

doi:10.1007/s12204-022-2505-7

J Shanghai Jiaotong Univ Sci ›› 2023, Vol. 28 ›› Issue (4): 507-.doi: 10.1007/s12204-022-2505-7

• • 上一篇

柔性输尿管镜末端偏转运动的迟滞特性建模与运动补偿

华鹏^a，舒雄鹏^a，谢叻^a,b

（上海交通大学 a. 塑性成形技术与装备技术研究院；b. 医疗机器人研究院，上海200030）

收稿日期:2021-10-27 接受日期:2021-11-16 出版日期:2023-07-28 发布日期:2023-07-31

Hysteresis Modeling and Compensation for Distal Shaft Deflection of Flexible Ureteroscope

HUA Peng^a (华鹏)， SHU Xiongpeng^a (舒雄鹏)，XIE Le^a,b* (谢叻)

(a. Institute of Forming Technology and Equipment; b. Institute of Medical Robotics, Shanghai Jiao Tong University, Shanghai 200030, China)

Received:2021-10-27 Accepted:2021-11-16 Online:2023-07-28 Published:2023-07-31

摘要/Abstract

摘要： 柔性输尿管镜手术已广泛应用于上尿路疾病的诊断和治疗中，该手术的关键步骤是医生操作柔性镜末端到达目标区域进行诊疗。然而，柔性输尿管镜末端的偏转会表现出很明显的柔性迟滞特性，这可能是降低医生操作精度的最重要因素之一，因此在实际手术中医生往往需要花费较长的时间操作柔性镜末端到达目标治疗区域。本研究中，我们通过大量重复实验获得了柔性输尿管镜末端偏转的迟滞运动曲线，然后分别使用分段线性近似方法和长短期记忆网络方法对迟滞特性曲线进行建模分析。在此基础上，我们提出两种柔性镜末端偏转运动的迟滞补偿策略并开展一系列补偿实验来验证运动补偿策略的有效性。实验结果表明这两种迟滞补偿策略可以显著地提高柔性镜末端偏转运动精度，平均补偿误差不超过5°。

关键词: 柔性输尿管镜手术，末端偏转运动，迟滞特性建模，运动补偿

Abstract: Flexible ureteroscopy (FURS) has been widely used in the diagnosis and treatment of upper urinarytract diseases. The key operation of FURS is that the surgeon manipulates the distal shaft of flexible ureteroscopeto a specific target for diagnosis and treatment. However, the hysteresis of flexible ureteroscope may be one ofthe most important factors that degrade the manipulation accuracy and the surgeon usually spends a long timenavigating the distal shaft during surgery. In this study, we obtained hysteresis curves of distal shaft deflectionfor the flexible ureteroscope through extensive repeated experiments. Then, two methods based on piecewiselinear approximation and long short-term memory neural network were employed to model the hysteresis curves.On this basis, we proposed two hysteresis compensation strategies for the distal shaft deflection. Finally, wecarried out hysteresis compensation experiments to verify the two proposed compensation strategies. Experimentalresults showed that the hysteresis compensation strategies can significantly improve position accuracy with meancompensation errors of no more than 5?.

Key words: flexible ureteroscopy (FURS), distal shaft deflection, hysteresis modeling, motion compensation

中图分类号:

华鹏a，舒雄鹏a，谢叻a,b. 柔性输尿管镜末端偏转运动的迟滞特性建模与运动补偿[J]. J Shanghai Jiaotong Univ Sci, 2023, 28(4): 507-.

HUA Penga (华鹏)， SHU Xiongpenga (舒雄鹏)，XIE Lea,b* (谢叻). Hysteresis Modeling and Compensation for Distal Shaft Deflection of Flexible Ureteroscope[J]. J Shanghai Jiaotong Univ Sci, 2023, 28(4): 507-.

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柔性输尿管镜末端偏转运动的迟滞特性建模与运动补偿

Hysteresis Modeling and Compensation for Distal Shaft Deflection of Flexible Ureteroscope

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