Title:
MULTI-OUTPUT MINIMALLY INVASIVE SURGERY TOOL BASED ON AUTO-DISTURBANCE REJECTION CONTROL AND CONTROL METHOD THEREFOR
Document Type and Number:
WIPO Patent Application WO/2021/000537
Kind Code:
A1
Abstract:
A multi-output minimally invasive surgery tool based on auto-disturbance rejection control, and a control method therefor. Provided is a multi-output minimally invasive surgery tool having an ADRC frequency controller. A phase change at a resonant working point of a cutter (5) is observed in real time by means of a tracking differentiator (1) and an extended state observer (3), and a state error feedback control rule combined with disturbance compensation implements instant working frequency control. Instant response, instant compensation control, and instant tracking ensure highly accurate operations and reliability in a surgical system. Meanwhile, an ADRC control algorithm is used, and a final control magnitude comprises a feedforward control magnitude (r3), a compensation control magnitude, and a feedback control magnitude. The invention features strong decoupling and internal and external disturbance estimation and supplementation capabilities, agile reaction, small errors, and highly precise real time control of frequency.
Inventors:
MA ZHENWEI (CN)
LIU FUCHUN (CN)
DENG FUCHI (CN)
QI JINLEI (CN)
LI WEIYU (CN)
LIU FUCHUN (CN)
DENG FUCHI (CN)
QI JINLEI (CN)
LI WEIYU (CN)
Application Number:
PCT/CN2019/127083
Publication Date:
January 07, 2021
Filing Date:
December 20, 2019
Export Citation:
Assignee:
GUANGZHOU YIHERE MEDICAL TECH DEVELOPMENT CO LTD (CN)
International Classes:
A61B17/32
Foreign References:
US20160325311A1 | 2016-11-10 | |||
CN109009210A | 2018-12-18 | |||
US20030045887A1 | 2003-03-06 | |||
US20130131686A1 | 2013-05-23 | |||
CN109862836A | 2019-06-07 | |||
CN108024823A | 2018-05-11 |
Attorney, Agent or Firm:
SCIHEAD IP LAW FIRM (CN)
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