CAJ | 학술논문

随着机器人技术和信息技术的日新月异，机器人辅助远程手术系统获得了长足发展，在合理配置医疗资源和远程救治方面发挥着不可替代的巨大作用。但是，远程手术不可避免的存在网络时延，导致整个系统的稳定性降低。为此，本文针对变时延这一不利影响因素，提出了基于PID加反馈环节的新型内模控制策略，并利用改进型粒子群算法对参数进行优化。最后，利用实测的网络时延值进行仿真研究。结果表明，新型内模控制器能够显著提高系统的鲁棒性，并且在参数调节的灵活性、系统响应的快速性和抗干扰能力方面均优于经典内模控制器，能够满足远程手术系统的实际控制要求。
수착궤기인기술화신식기술적일신월이，궤기인보조원정수술계통획득료장족발전，재합리배치의료자원화원정구치방면발휘착불가체대적거대작용。단시，원정수술불가피면적존재망락시연，도치정개계통적은정성강저。위차，본문침대변시연저일불리영향인소，제출료기우PID가반궤배절적신형내모공제책략，병이용개진형입자군산법대삼수진행우화。최후，이용실측적망락시연치진행방진연구。결과표명，신형내모공제기능구현저제고계통적로봉성，병차재삼수조절적령활성、계통향응적쾌속성화항간우능력방면균우우경전내모공제기，능구만족원정수술계통적실제공제요구。
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 lfexibility, 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.