Following Control Method for Interventional Surgical Robot Based on Fuzzy Fusion
ZHU Ping
HAN Xingfeng
ZHAO Kai
Abstract：To optimize the control performance of interventional surgical robots,a following control method based on fuzzy fusion is proposed.Data on joint transformation matrices and rotation matrices of the surgical robot are collected,followed by the establishment of forward/inverse kinematic equations and nut motion equations to obtain force feedback from the slave end.Input variables such as position error are fuzzified using membership functions;fuzzy sets are constructed,and rules are formulated to calculate the following control error.On this basis,an adjustable covariance matrix and a following controller are designed,and the control results are defuzzified to achieve precise following control of the interventional surgical robot.Experimental results indicate that in multiple experiments,the mean value of the cumulative probability distribution of errors of the proposed method is 0.93,which enables accurate control of the robot's following trajectory.
Keywords：fuzzy fusioninterventional surgical robotrobot following controlkinematic modelfollowing trajectory
Publication Date：2025-11-20
Online Publishing Date：2025-12-03(First online date of this platform, not the publication date of the document)
Pages：6( 33-38 )