检索结果-内蒙古大学图书馆

Neural network adaptive admittance control for improving position/force tracking accuracy of fracture reduction robot

引用

TRANSACTIONS OF THE INSTITUTE OF MEASUREMENT AND CONTROL 2025年

作者： Wang, Zhuangzhuang Lei, Jintao Zheng, Gongliang Shanghai Univ Sch Mechatron Engn & Automat Shanghai 200444 Peoples R China Shanghai Inst Technol Sch Elect & Elect Engn Shanghai Peoples R China

The accuracy of fracture reduction robot is critical factor for clinical application. In this study, a neural network adaptive admittance control (NNAAC) system is proposed to improve the position/force tracking accuracy of the robot under large variable reduction forces and uncertain robot dynamic models. The NNAAC consists of an inner loop and an outer loop. The inner loop combines inverse dynamics control (IDC) and radial basis function neural network (RBFNN) to compensate for inaccuracies in the dynamic model, and an admittance parameter adaptive controller based on the RBFNN in the outer loop improves force tracking accuracy and stability. The performance of the NNAAC is evaluated by fracture model reduction experiments, comparing it with the inverse dynamics control and constant admittance control. The experimental results show that the NNAAC achieves better control effectiveness and high accuracy with a maximum reduction force of 190 N. Specifically, the proposed controller exhibits a maximum position error of less than 1 mm and a maximum orientation error of less than 0.5 degrees.

关键词： fracture reduction robot neural network control position/force tracking control uncertainties large variable reduction force

来源：评论

学校读者我要写书评

暂无评论

A new hand-eye calibration approach for fracture reduction robot

引用

COMPUTER ASSISTED SURGERY 2017年第SUP1期22卷 113-119页

作者： Wang, Lifeng Wang, Tianmiao Tang, Peifu Hu, Lei Liu, Wenyong Han, Zhonghao Hao, Ming Liu, Hongpeng Wang, Kun Zhao, Yanpeng Guo, Na Cao, Yanxiang Li, Changsheng Beihang Univ Sch Mech Engn & Automat Beijing Peoples R China Chinese Peoples Liberat Army Gen Hosp Dept Orthopaed Beijing Peoples R China Beihang Univ Sch Biol Sci & Med Engn Beijing Peoples R China Natl Univ Singapore Dept Biomed Engn Singapore Singapore

Objective: The hand-eye calibration is used to determine the transformation between the end-effector and the camera marker of the robot. But the robot movement in traditional method would be time-consuming, inaccurate and even unavailable in some conditions. The method presented in this article can complete the calibration without any movement and is more suitable in clinical applications. Methods: Instead of solving the classic non-linear equation AX = XB, we collected the points on X and Y axes of the tool coordinate system (TCS) with the visual probe and fitted them using the singular value decomposition algorithm (SVD). Then, the transformation was obtained with the data of the tool center point (TCP). A comparison test was conducted to verify the performance of the method. Results: The average translation error and orientation error of the new method are 0.12 +/- 0.122 mm and 0.18 +/- 0.112 degrees respectively, while they are 0.357 +/- 0.347 mm and 0.416 +/- 0.234 degrees correspondingly in the traditional method. Conclusions: The high accuracy of the method indicates that it is a good candidate for medical robots, which usually need to work in a sterile environment.

关键词： Hand-Eye Calibration singular value decomposition fracture reduction robot

来源：评论

学校读者我要写书评

暂无评论

Optimization of fracture reduction robot controller based on improved sparrow algorithm

引用

Biomimetic Intelligence & robotics 2023年第4期3卷 16-28页

作者： Baichuan An Jianwen Chen Hao Sun Minghuan Yin Zicheng Song Chao Zhuang Cheng Chang Minghe Liu School of Artificial Intelligence and Data Science Hebei University of TechnologyTianjin 300401China Limb Deformity Correction and Function Reconstruction Department Southern University of Science and Technology HospitalShenzhen 518000China Engineering Research Center of Intelligent Rehabilitation Device and Detection Technology Ministry of EducationTianjin 300401China

The accuracy of a fracture reduction robot(FRR)is critical for ensuring the safety of *** the repositioning accuracy of a FRR,reducing the error,and realizing a safer and more stable folding motion is *** achieve this,a sparrow search algorithm(SSA)based on the Levy flight operator was proposed in this study for self-tuning the robot controller *** inverse kinematic analysis of the FRR was also *** robot dynamics model was established using Simulink,and the inverse dynamics controller for the fracture reduction mechanism was designed using the computed torque control *** simulation and physical experiments were also *** actual motion trajectory of the actuator drive rod and its error with a desired trajectory was obtained through *** optimized Levy-sparrow search algorithm(Levy-SSA)crack reduction robot controller demonstrated an overall reduction of two orders of magnitude in the reduction error,with an average error reduction of 98.74%compared with the traditional unoptimized *** Levy-SSA increased the convergence of the crack reduction robot control system to the optimal solution,improved the accuracy of the motion trajectory,and exhibited important implications for robot controller optimization.

关键词： fracture reduction robot The sparrow search algorithm Levy flight reduction accuracy

来源：评论

学校读者我要写书评

暂无评论

Force/position tracking control of fracture reduction robot based on nonlinear disturbance observer and neural network

引用

INTERNATIONAL JOURNAL OF MEDICAL robotICS AND COMPUTER ASSISTED SURGERY 2024年第3期20卷 e2639页

作者： Lei, Jintao Wang, Zhuangzhuang Shanghai Univ Sch Mechatron Engn & Automat Shanghai Peoples R China

BackgroundFor the fracture reduction robot, the position tracking accuracy and compliance are affected by dynamic loads from muscle stretching, uncertainties in robot dynamics models, and various internal and external *** control method that integrates a Radial Basis Function Neural Network (RBFNN) with Nonlinear Disturbance Observer is proposed to enhance position tracking accuracy. Additionally, an admittance control is employed for force tracking to enhance the robot's compliance, thereby improving the *** are conducted on a long bone fracture model with simulated muscle forces and the results demonstrate that the position tracking error is less than +/- 0.2 mm, the angular displacement error is less than +/- 0.3 degrees, and the maximum force tracking error is 26.28 N. This result can meet surgery *** control method shows promising outcomes in enhancing the safety and accuracy of long bone fracture reduction with robotic assistance.

关键词： admittance control force/position tracking fracture reduction robot neural network nonlinear disturbance observer

来源：评论

学校读者我要写书评

暂无评论

Study on the Modeling and Compensation Method of Pose Error Analysis for the fracture reduction robot

引用

MICROMACHINES 2022年第8期13卷 1186页

作者： Liu, Minghe Li, Jian Sun, Hao Guo, Xin Xuan, Bokai Ma, Lifang Xu, Yuexuan Ma, Tianyi Ding, Qingsong An, Baichuan Hebei Univ Technol Sch Artificial Intelligence & Data Sci & Engn Res Minist Educ Tianjin 300130 Peoples R China Beijing Univ Posts & Telecommun Sch Automat Beijing 100876 Peoples R China Natl Res Ctr Rehabil Tech Aids Beijing Key Lab Rehabil Tech Aids Old Age Disabil Beijing 100176 Peoples R China Natl Res Ctr Rehabil Tech Aids Key Lab Neurofunct Informat & Rehabil Engn Minist Civil Affairs Beijing 100176 Peoples R China

Background: In the process of fracture reduction, there are some errors between the actual trajectory and the ideal trajectory due to mechanism errors, which would affect the smooth operation of fracture reduction. To this end, based on self-developed parallel mechanism fracture reduction robot (FRR), a novel method to reduce the pose errors of FRR is proposed. Methods: Firstly, this paper analyzed the pose errors, and built the model of the robot pose errors. Secondly, mechanism errors of FRR were converted into drive bar parameter's errors, and the influence of each drive bar parameter on the robot pose error were analyzed. Thirdly, combining with Cauchy opposition-based learning and differential evolution algorithm (DE), an improved whale optimization algorithm (CRLWOA-DE) is proposed to compensate the end-effector's pose errors, which could improve the speed and accuracy of fracture reduction, respectively. Results: The iterative accuracy of CRLWOA-DE is improved by 50.74%, and the optimization speed is improved by 22.62% compared with the whale optimization algorithm (WOA). Meanwhile, compared with particle swarm optimization (PSO) and ant colony optimization (ACO), CRLWOA-DE is proved to be more accurate. Furthermore, SimMechanics in the software of MATLAB was used to reconstruct the fracture reduction robot, and it was verified that the actual motion trajectory of the CRLWOA-DE optimized kinematic stage showed a significant reduction in error in both the x-axis and z-axis directions compared to the desired motion trajectory. Conclusions: This study revealed that the error compensation in FRR reset process had been realized, and the CRLWOA-DE method could be used for reducing the pose error of the fracture reduction robot, which has some significance for the bone fracture and deformity correction.

关键词： fracture reduction robot error model whale optimization algorithm differential evolution algorithm opposition-based learning error compensation

来源：评论

学校读者我要写书评

暂无评论

Hill-based musculoskeletal model for a fracture reduction robot

引用

INTERNATIONAL JOURNAL OF MEDICAL robotICS AND COMPUTER ASSISTED SURGERY 2021年第3期17卷 e2252页

作者： Tan, Yinglun Fu, Zhuoxin Duan, Lunhui Cui, Rui Wu, Mengkun Chen, Jianwen Guo, Yue Li, Jian Guo, Xin Sun, Hao Hebei Univ Technol Sch Artificial Intelligence & Data Sci 8 Guangrong Rd Tianjin 300130 Peoples R China Hebei Univ Technol Engn Res Ctr Minist Educ Intelligent Rehabil Devi Tianjin Peoples R China Rehabil Hosp Natl Res Ctr Rehabil Tech Aids Beijing Peoples R China Beijing Key Lab Rehabil Tech Aids Old Age Disabil Natl Res Ctr Rehabil Tech Aids Beijing Peoples R China Key Lab Neuro Funct Informat & Rehabil Engn Minis Beijing Peoples R China

Background The introduction of fracture reduction robot can solve the problem of large reduction forces during fracture reduction surgeries and the need to collect multiple medical images. However, because its safety has not been certified, there are few academic achievements on this type of robot. To calculate the safety factor during its operation, a musculoskeletal model needs to be established to study the constraints of muscles on the robot. The existing academic achievements of musculoskeletal modelling are mainly for application such as rehabilitation treatment and collision in car accidents. Methods A musculoskeletal model applied to the fracture reduction robot is proposed in this paper. First, by comparing the characteristics of mainstream muscle models and combining the biological characteristics of the anesthetised muscles, the Hill model was selected as the muscle model for this study. Second, based on the motion composition of six spatial degrees of freedom, five basic fractural malposition situations are proposed. Then, a 170-cm tall male musculoskeletal model was built in Opensim. Based on this model, the muscle force curves of the above malposition situations are calculated. Finally, a similar musculoskeletal model was established in Adams, and the accuracy of its muscle force data was tested. The study is approved by the ethics committee of the Rehabilitation Hospital, National Research Center for Rehabilitation Technical Aids, Beijing, China. Results The muscle force curve of Opensim and Adams model under situations of five basic malposition are compared. Most of the correlation coefficients are in the range of 0.98-0.99. The overall correlation coefficient is greater than 0.95. Conclusions The simulation results prove that this model can be used for the safety assessment of the fracture reduction robots. This model will be served as an environmental constraint to study the control of fracture reduction robot.

关键词： fracture reduction robot Hill model muscle force musculoskeletal modelling

来源：评论

学校读者我要写书评

暂无评论

Forward solution algorithm of fracture reduction robots based on Newton-Genetic algorithm

引用

BIOMIMETIC INTELLIGENCE AND robotICS 2025年第2期5卷

作者： Li, Jian Zhang, Xiangyan Mo, Yadong Yang, Guang Dai, Yun Lv, Chengyu Zhang, Ying Wei, Shimin Beijing Univ Posts & Telecommun Lab Robot Mech & Cross Innovat Beijing 100876 Peoples R China Beijing Univ Posts & Telecommun Sch Intelligent Engn & Automat Beijing 100876 Peoples R China Ningxia Univ Sch Elect & Elect Engn Yinchuan 750021 Ningxia Peoples R China

The fracture reduction robot (FRR) is a crucial component of robot-assisted fracture correction technology. However, long-term clinical experiments have identified significant challenges with the forward kinematics of the parallel FRR, notably slow computation speeds and low precision. To address these issues, this paper proposes a hybrid algorithm that integrates the Newton method with a genetic algorithm. This approach harnesses the rapid computation and high precision of the Newton method alongside the strong global convergence capabilities of the genetic algorithm. To comprehensively evaluate the performance of the proposed algorithm, comparisons are made against the analytical method and the Additional Sensor Algorithm (ASA) using identical computational examples. Additionally, iterative comparisons of iteration counts and precision are conducted between traditional numerical methods and the Newton-Genetic algorithm. Experimental results show that the Newton-Genetic algorithm achieves a balance between computation speed and precision, with an accuracy reaching the 10-4 mm order of magnitude, effectively meeting the clinical requirements for fracture reduction robots in medical correction. (c) 2025 The Author(s). Published by Elsevier B.V. on behalf of Shandong University. This is an open access article under the CC BY-NC-ND license (http://***/licenses/by-nc-nd/4.0/).

关键词： fracture reduction robot Newton method Genetic algorithm Forward kinematics Medical application

来源：评论

学校读者我要写书评

暂无评论

Accuracy Analysis of a robot System for Closed Diaphyseal fracture reduction

引用

INTERNATIONAL JOURNAL OF ADVANCED robotIC SYSTEMS 2014年第10期11卷

作者： Li, Changsheng Wang, Tianmiao Hu, Lei Zhang, Lihai Du, Hailong Wang, Lifeng Luan, Sheng Tang, Peifu Beihang Univ Sch Mech Engn & Automat Beijing 100191 Peoples R China Chinese Peoples Liberat Army Gen Hosp Dept Orthopaed Beijing Peoples R China Beihang Univ Sch Comp Sci & Engn Beijing 100191 Peoples R China

We have developed a robot system for closed diaphyseal fracture reduction. Because accuracy is essential for the treatment effects of the robot system and for the safety of both the patients and surgeons, we analysed accuracy in a systematic way. Both the structure of the robot and the operation procedure are described. Using the transfer model of errors in series and the error differential solving method for parallel mechanisms, an error model was established, and the main influencing factors of errors were considered. The Monte Carlo method was used to perform the simulation based on the error model. Experiments of image registration, of the mechanism and of the whole robot system were tested in different aspects to verify that the results of the simulation are correct. The system accuracy was compared with clinical standards to show that the robot system fulfilled the requirements for closed diaphyseal fracture reduction. The accuracy analysis method also provides an efficient path for other medical robots.

关键词： fracture reduction robot Accuracy Analysis Image Registration Parallel Mechanism Error Model

来源：评论

学校读者我要写书评

暂无评论

A novel master-slave teleoperation robot system for diaphyseal fracture reduction: a preliminary study

引用

Computer Assisted Surgery 2016年 21卷 163-168页

作者： Li, Changsheng Wang, Tianmiao Hu, Lei Tang, Peifu Wang, Lifeng Zhang, Lihai Guo, Na Tan, Yiming Beihang Univ Sch Mech Engn & Automat 37 Xueyuan Rd Beijing 100191 Peoples R China Chinese Peoples Liberat Army Gen Hosp Dept Orthopaed Beijing Peoples R China

We developed a novel master-slave teleoperation robot system for diaphyseal fracture reduction. This paper details the mechanical design and the control system as a preliminary study. The fracture reduction accuracy and the performance of the control system are experimentally tested. The mean error in the axial and lateral displacements was below 3 mm;the mean side angle and inward turn errors were below 4 degrees. As a preliminary study, the feasibility of the novel master-slave teleoperation robot system for diaphyseal fracture reduction is verified. The robot system fulfills the reduction requirements in accuracy and operating performance.

关键词： Master-slave teleoperation teleoperation fracture reduction robot

来源：评论

学校读者我要写书评

暂无评论

Preliminary Study in a Novel robotic-Assisted Femoral Shaft fracture reduction System 4th

Preliminary Study in a Novel Robotic-Assisted Femoral Shaft ...

引用

4th International Conference on robot Intelligence Technology and Applications (RiTA)

作者： Zhu, Qing Wang, Xingsong Sun, Xiaogang Liang, Bin Southeast Univ Sch Mech Engn Nanjing 211189 Jiangsu Peoples R China Nanjing First Hosp Dept Orthoped Nanjing 210006 Jiangsu Peoples R China

ISBN: (纸本)9783319312934;9783319312910

The minimally invasive surgical operation of intramedullary nailing has prevailed as a standard technique for a definite stabilizing treatment in femoral shaft fractures, and reduction is a critical step before carrying out an invasive operation. However, there are some disadvantages about this technology, such as the frequent radiation exposure for the operator and patients. This paper describes a novel cuff-type robotic-assisted femoral shaft fracture repositioning system, and preliminary discusses the constitutive modeling of passive transverse mechanical properties of skeletal muscle. Skeletal traction and fragments alignment for femur fracture reduction can be performed separately, which are standard procedures for surgeons in clinical. Correspondingly, the robotic system consists of distraction device, cuff-type reduction unit and remote control system. Preliminary experiments based on artificial models have been done, and the results show the effectiveness of the proposed robotic-assisted system, and indicate the potential value for further study.

关键词： fracture reduction robot Cuff-type unit Skeletal muscle Compressive behavior

来源：评论

学校读者我要写书评

暂无评论

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案：

请选择收藏分类：

通借通还

建议与咨询 留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案： 新增检索档案 确定 取消

请选择收藏分类： 新增自定义分类 确定 取消

通借通还

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

请选择保存的检索档案：

请选择收藏分类：