Fuzzy Variable Admittance Control-Based End Compliance Control of Puncture Ablation Robot

Abstract

In the process of remote operation minimally invasive puncture microwave ablation surgery, due to the regular breathing ups and downs of the human chest cavity, it is easy to cause tearing of human tissue near the rigid needle. In order to avoid secondary damage to surrounding living tissues caused by relative movement between the puncture needle and chest skin, we developed a respiratory motion-adaptive robotic end-effector admittance control method for patients undergoing puncture ablation surgery. This method is based on a collaborative robot and incorporates both admittance control and fuzzy control. By continuously monitoring the contact force and velocity at the end-effector, the method dynamically adjusts the admittance parameters through a fuzzy control algorithm. This ensures smoother, more stable and controlled motion of the end-effector, achieving a compliant and force-free motion adaptation. This method can achieve zero-force follow-up of 0.8 N in our physical breathing simulation platform. In addition, on our constructed respiratory simulation platform, we conducted three sets of experiments: rigid stationary end, constant admittance parameters end movement, and variable admittance parameters end movement. These experiments were aimed at validating the superior zero-force tracking characteristics of our designed variable admittance control algorithm. The algorithm demonstrates great clinical applicability as it effectively avoids secondary injuries that patients may encounter during surgery.