柔性内镜介入机器人模糊PID控制研究

柔性内镜以其损伤小、检查直观等优势在消化道疾病的诊断与治疗上得到广泛的应用，但其操作困难，因此研发有内镜机器人辅助医生进行内镜操作。在镜下介入手术操作过程中，人体生理活动增加了内镜远程操作的难度。针对生理活动对目标靶点位置的影响，分析内镜弯曲段结构，建立了柔性内镜机器人的运动学模型，并引入模糊PID控制策略来适应人体解剖结构、内镜参数等不确定因素影响，使内镜自动跟踪病灶靶点，避免人重复小范围的跟踪动作，提高控制精度。仿真表明，相对于传统PID控制算法，模糊PID控制算法可加快系统响应，降低系统稳态误差。

Fuzzy PID Control of Flexible Endoscope Intervention Robot

Flexible endoscope has been widely used in diagnosis and treatment of digestive tract disease due to minimal damage and Visual inspection. However, it is difficult to master such flexible endoscopes. So flexible endoscope intervention robot was developed to assist endoscopists with endoscope operation. During the operation of endoscope intervention surgery, human physiological activity increases the difficulty of endoscope manipulation. Aimed the influence of human physiological activity onto position of lesion target, the kinematic model of flexible endoscope intervention robot is developed based the analysis of bending section structure, the fuzzy PID control strategy is introduced to adapt the influence of uncertain factors such as indeterminate human anatomical structure and endoscope parameters. The endoscope is controlled to follow the lesion target automatically, avoiding the repetitive and small-scale operation and increasing operation accuracy. Simulation results indicate that, compared with traditional PID control algorithm, the fuzzy PID control algorithm could accelerate the system response and decrease the system static error.