Modeling and control design of a bronchoscope robotics system
For the pulmonary nodule biopsy problem, this paper investigates an intervention robotics system based on the bronchoscope. To achieve precise control of the system, the mathematical model is established at first. The system mainly consists of an inserting tube and a tube tip, which are modeled base...
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| Main Authors: | , , , , |
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| Format: | Article |
| Language: | English |
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Elsevier
2024-06-01
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| Series: | EngMedicine |
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| Online Access: | http://www.sciencedirect.com/science/article/pii/S2950489924000083 |
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| author | Yuhua Song Lifeng Zhu Jinfeng Li Cheng Wang Aiguo Song |
| author_facet | Yuhua Song Lifeng Zhu Jinfeng Li Cheng Wang Aiguo Song |
| author_sort | Yuhua Song |
| collection | DOAJ |
| description | For the pulmonary nodule biopsy problem, this paper investigates an intervention robotics system based on the bronchoscope. To achieve precise control of the system, the mathematical model is established at first. The system mainly consists of an inserting tube and a tube tip, which are modeled based on a moving flexible beam and a soft robot, respectively. In order to reduce the harm to the patient during the operation, the robot system should suppress the vibration of the inserting tube during the process of tracking the desired trajectory in the bronchus. Therefore, we use the boundary control algorithm to design a controller capable of suppressing vibration for the inserting tube. Meanwhile, in order for the robot system to accurately select the bronchus corresponding to the branch, we designed a soft robot controller that can bend or deflect the soft robot to a specified posture. Finally, we used theoretical proof and numerical simulation to verify the conclusion. |
| format | Article |
| id | doaj-art-b72d70b4ed174a148f8a4cf42e02e4f1 |
| institution | Kabale University |
| issn | 2950-4899 |
| language | English |
| publishDate | 2024-06-01 |
| publisher | Elsevier |
| record_format | Article |
| series | EngMedicine |
| spelling | doaj-art-b72d70b4ed174a148f8a4cf42e02e4f12025-01-11T06:42:27ZengElsevierEngMedicine2950-48992024-06-0111100008Modeling and control design of a bronchoscope robotics systemYuhua Song0Lifeng Zhu1Jinfeng Li2Cheng Wang3Aiguo Song4Hanglok-Tech Co., Ltd., Hengqin 519000, China; State Key Laboratory of Bioelectronics, Jiangsu Key Lab of Remote Measurement and Control, School of Instrument Science and Engineering, Southeast University, Nanjing 210096, ChinaState Key Laboratory of Bioelectronics, Jiangsu Key Lab of Remote Measurement and Control, School of Instrument Science and Engineering, Southeast University, Nanjing 210096, ChinaHanglok-Tech Co., Ltd., Hengqin 519000, ChinaHanglok-Tech Co., Ltd., Hengqin 519000, ChinaState Key Laboratory of Bioelectronics, Jiangsu Key Lab of Remote Measurement and Control, School of Instrument Science and Engineering, Southeast University, Nanjing 210096, China; Corresponding author.For the pulmonary nodule biopsy problem, this paper investigates an intervention robotics system based on the bronchoscope. To achieve precise control of the system, the mathematical model is established at first. The system mainly consists of an inserting tube and a tube tip, which are modeled based on a moving flexible beam and a soft robot, respectively. In order to reduce the harm to the patient during the operation, the robot system should suppress the vibration of the inserting tube during the process of tracking the desired trajectory in the bronchus. Therefore, we use the boundary control algorithm to design a controller capable of suppressing vibration for the inserting tube. Meanwhile, in order for the robot system to accurately select the bronchus corresponding to the branch, we designed a soft robot controller that can bend or deflect the soft robot to a specified posture. Finally, we used theoretical proof and numerical simulation to verify the conclusion.http://www.sciencedirect.com/science/article/pii/S2950489924000083Surgical roboticsBoundary controlDynamic modelingBronchial intervention |
| spellingShingle | Yuhua Song Lifeng Zhu Jinfeng Li Cheng Wang Aiguo Song Modeling and control design of a bronchoscope robotics system EngMedicine Surgical robotics Boundary control Dynamic modeling Bronchial intervention |
| title | Modeling and control design of a bronchoscope robotics system |
| title_full | Modeling and control design of a bronchoscope robotics system |
| title_fullStr | Modeling and control design of a bronchoscope robotics system |
| title_full_unstemmed | Modeling and control design of a bronchoscope robotics system |
| title_short | Modeling and control design of a bronchoscope robotics system |
| title_sort | modeling and control design of a bronchoscope robotics system |
| topic | Surgical robotics Boundary control Dynamic modeling Bronchial intervention |
| url | http://www.sciencedirect.com/science/article/pii/S2950489924000083 |
| work_keys_str_mv | AT yuhuasong modelingandcontroldesignofabronchoscoperoboticssystem AT lifengzhu modelingandcontroldesignofabronchoscoperoboticssystem AT jinfengli modelingandcontroldesignofabronchoscoperoboticssystem AT chengwang modelingandcontroldesignofabronchoscoperoboticssystem AT aiguosong modelingandcontroldesignofabronchoscoperoboticssystem |