一种核磁共振兼容液压驱动穿刺手术机器人的动力学建模及<i>H</i><sub>∞</sub>控制方法研究

黄芳; 邱榆富; 郭靖

doi:10.12052/gdutxb.210120

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一种核磁共振兼容液压驱动穿刺手术机器人的动力学建模及H_∞控制方法研究

更新时间：2026-05-27

- 一种核磁共振兼容液压驱动穿刺手术机器人的动力学建模及H_∞控制方法研究
- Dynamic Modeling and H_∞ Control Method of an MRI-compatible Hydraulically Needle Insertion Robot
- 广东工业大学学报 2023年40卷第1期页码：68-76
- 作者机构：
  
  广东工业大学自动化学院,广东,广州,510006
- 作者简介：
  
  黄芳(1999–) ，女，硕士研究生，主要研究方向为手术机器人
  郭靖(1986–) ，男，副教授，博士，主要研究方向为遥操作、手术机器人， E-mail：jing.guo@gdut.edu.cn
- 基金信息：
  
  国家自然科学基金青年基金资助项目(61803103)
- DOI：10.12052/gdutxb.210120
  中图分类号： TP242
- 网络首发：2023-01-25，
  
  纸质出版：2023
- 稿件说明：
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黄芳, 邱榆富, 郭靖. 一种核磁共振兼容液压驱动穿刺手术机器人的动力学建模及H_∞控制方法研究[J]. 广东工业大学学报, 2023, 40(1): 68-76. DOI: 10.12052/gdutxb.210120.

Huang Fang, Qiu Yu-fu, Guo Jing. Dynamic Modeling and H_∞ Control Method of an MRI-compatible Hydraulically Needle Insertion Robot[J]. 2023, 40(1): 68-76. DOI: 10.12052/gdutxb.210120.
黄芳, 邱榆富, 郭靖. 一种核磁共振兼容液压驱动穿刺手术机器人的动力学建模及H_∞控制方法研究[J]. 广东工业大学学报, 2023, 40(1): 68-76. DOI: 10.12052/gdutxb.210120. DOI：

Huang Fang, Qiu Yu-fu, Guo Jing. Dynamic Modeling and H_∞ Control Method of an MRI-compatible Hydraulically Needle Insertion Robot[J]. 2023, 40(1): 68-76. DOI: 10.12052/gdutxb.210120. DOI：

摘要

脑瘤是影响国民健康状况的重大难题。为了确定脑瘤的发展程度，以确定下一步治疗方案，通常需要对脑瘤组织进行穿刺活检手术。由于核磁共振成像(Magnetic Resonance Imaging

MRI)对软组织有更好的分辨率，常用来检测脑部肿瘤。因此，针对MRI兼容的机器人的相关研究是非常必要的。本文基于一种核磁共振兼容的液压驱动穿刺手术机器人，根据液压连通器的原理，推导了该机器人的运动学模型，并基于流体力学的相关理论，得到了该机器人的动力学模型。为了精确控制所设计的机器人系统，根据

$ {H}_{\infty } $

img text_id='M1' class='formula-img' style='display:none;' src='gdgydxxb-40-1-68_M1.jpg'>

控制理论设计了该液压驱动系统的状态反馈

$ {H}_{\infty } $

img text_id='M1' class='formula-img' style='display:none;' src='gdgydxxb-40-1-68_M1.jpg'>

控制率，使机器人可以快速、稳定地跟踪目标信号。最后，通过实验研究，该机器人系统的综合定位精度为0.56 mm，在

轴、

轴、俯仰轴和横滚轴上的平均定位精度分别为0.41 mm、0.6 mm、0.67 mm、0.886°和1.17°。研究结果验证了机器人辅助定位穿刺针的性能，所建立的动力学模型和控制方法对穿刺机器人的控制算法研究有一定的参考价值。

Abstract

Brain tumors are a major problem affecting the health status of the nation. To determine the extent of brain tumor in order to determine the nex

t step in treatment

a puncture biopsy procedure of brain tumor tissue is often required. Magnetic resonance imaging (MRI) is commonly used to detect brain tumors due to its better soft-tissue resolution. Therefore

research related to MRI-compatible robots is necessary. Based on an MRI-compatible hydraulically driven puncture surgery robot

the kinematic model of the robot is derived based on the principle of hydraulic linker

and the dynamic model of the robot is obtained based on the relevant theory of fluid dynamics. In order to realize the accurate control of the designed robot system

the state feedback

${H}_{\infty } $

img text_id='Z-20221130165923' class='formula-img' style='display:none;' src='gdgydxxb-40-1-68_Z-20221130165923.jpg'>

control rate of this hydraulically driven system is designed according to the

${H}_{\infty } $

img text_id='Z-20221029143922' class='formula-img' style='display:none;' src='gdgydxxb-40-1-68_Z-20221029143922.jpg'>

control theory

which enables the robot to track the target signal quickly and stably. Finally

the average positioning accuracy of the designed robot system in

-axis

pitch-axis and roll-axis are obtained through experimental studies

and they are

respectively

0.41 mm

0.6 mm

0.67 mm

0.886° and 1.17°. Experimental results verify the performance of robot-assisted positioning puncture needles

and the dynamic model and control method of the robot have been given

which provide certain reference value for the research of the control algorithm of puncture robots.

关键词

Keywords

references

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NIRAVKUMAR A P, YAN J W, DAVID L, et al. Body-mounted robot for image-guided percutaneous interventions: mechanical design and preliminary accuracy evaluation[C]// 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems. Madrid: IEEE, 2018: 1443-1448.

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一种核磁共振兼容液压驱动穿刺手术机器人的动力学建模及H∞控制方法研究

Dynamic Modeling and H∞ Control Method of an MRI-compatible Hydraulically Needle Insertion Robot

DOI：10.12052/gdutxb.210120

摘要

Abstract

关键词

Keywords

references

一种核磁共振兼容液压驱动穿刺手术机器人的动力学建模及H_∞控制方法研究

Dynamic Modeling and H_∞ Control Method of an MRI-compatible Hydraulically Needle Insertion Robot