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基于模糊融合的介入手术机器人跟随控制方法
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作者 朱萍 韩邢峰 赵凯 《安阳工学院学报》 2025年第6期33-38,共6页
为优化介入手术机器人控制效果,提出基于模糊融合的跟随控制方法。收集手术机器人关节变换矩阵和旋转矩阵数据,建立正/逆运动学方程及螺母运动方程,获取从端力反馈。将位置误差等输入变量通过隶属度函数模糊化,构建模糊集并制定规则,计... 为优化介入手术机器人控制效果,提出基于模糊融合的跟随控制方法。收集手术机器人关节变换矩阵和旋转矩阵数据,建立正/逆运动学方程及螺母运动方程,获取从端力反馈。将位置误差等输入变量通过隶属度函数模糊化,构建模糊集并制定规则,计算跟随控制误差。基于此,设计调节协方差矩阵和跟随控制器,对控制结果解模糊化,实现介入手术机器人的精准跟随控制。实验结果表明,在多次实验中,所提方法的误差累积概率分布值均值为0.93,能够准确控制手术机器人的跟随轨迹。 展开更多
关键词 模糊融合 介入手术机器人 机器人跟随控制 运动学模型 跟随轨迹
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Investigation of the Influence of Two Different Elevation Methods on the Limb Swelling of Closed Tibiofibular Fracture
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作者 han xingfeng WU Shuangping LI Dongling 《外文科技期刊数据库(文摘版)医药卫生》 2021年第6期335-337,共5页
Objective: to investigate the effect of two different ways of elevation on limb swelling of closed tibiofibular fractures. Methods: choose from January 2019 to December bone fractures hospital subject in hospital ward... Objective: to investigate the effect of two different ways of elevation on limb swelling of closed tibiofibular fractures. Methods: choose from January 2019 to December bone fractures hospital subject in hospital ward in Guangxi during the period of 60 patients with fracture of tibiofibula closed as the research object, they were randomly divided into control group and research group, 30 cases each, and each line continuous push up limb, intermittent drive up limb. The degree of pain and swelling before and after nursing were evaluated and compared between 2 groups. Results: before nursing, there were no significant differences in VAS score and swelling degree between the two groups (P > 0 0.05). After 2 weeks of nursing, VSA score and swelling degree in observation group were lower than those in control group (P < 0.05). Conclusion: the intermittent elevation of the affected limb for the patients with closed tibiofibular fracture can effectively relieve the pain and swelling degree of the limb. This method is superior to the traditional continuous elevation of the affected limb, and is conducive to the early recovery of the patient's condition, and has clinical promotion value. 展开更多
关键词 persistent elevation of the affected limb intermittent elevation of the affected limb closed fract
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