Research on Internal Model Control of Remote Surgery System Based on Particle Swarm Optimization
DONG Ai1, HE Shi-lin2, YAN Zhi-yuan1, DU Zhi-jiang1, CHEN Guang-fei2, ZHOU Dan2
1.State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, Heilongjiang 150080, China; 2.Chinese PLA General Hospital, Beijing 100039, China
Abstract：With the rapid advances in robotics and information technology, the robot assisted telesurgery system has acquired the long-term development, which plays an important role in the reasonable allocation of medical resources and remote medical treatment. The inevitable existence of network time delay, however, leads to the lower stability of the entire system. Therefore, in view of the adverse factors of variable time delay, a new type of internal model control strategy is presented based on PID controller plus feedback loop, and using the modified particle swarm optimization algorithm for parameters optimization. Finally, the simulation experiment was carried out using the measured network time delay value. The experimental results show that the new type of internal model controller can significantly improve the robustness of the system, and the parameter adjusting flexibility, quickness and the anti-interference ability of system is superior to classical internal model controller, which can meet the control requirements of remote surgery system.
董爱，何史林，闫志远，杜志江，陈广飞，周丹. 基于粒子群优化的远程手术系统内模控制研究[J]. 中国医疗设备, 2014, 29(8): 14-16.
DONG Ai, HE Shi-lin, YAN Zhi-yuan, DU Zhi-jiang, CHEN Guang-fei, ZHOU Dan. Research on Internal Model Control of Remote Surgery System Based on Particle Swarm Optimization. China Medical Devices, 2014, 29(8): 14-16.
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