A new target accessibility control method based on SMC

ABSTRACT

In this paper, a sliding mode control method based on improved intelligent decision (IID-SMC) algorithm is proposed to improve the accuracy of the puncture needle to reach the target and reduce the time required in the puncture process. First of all, around the straight line of the puncture needle and the direction of the rotation of the needle, the independent control law is designed to realise the mutual decoupling and reduce the mutual interference. Secondly, the error range of this method in the process of puncture is analysed, and the upper bound of the error in the process of puncture is given. Finally, the method is verified by simulation and experiment platform.

KEYWORDS:

• Puncture operation
• soft tissue
• target accessibility
• sliding mode control

Disclosure statement

No potential conflict of interest was reported by the authors.

Additional information

Funding

This work was supported in part by the National Key R&D Funding under grant 2018YFE0206900.