Control Of Prostate Interventional Surgery Robot Based On Multi-modal Perception

In the process of puncture operation with prostate interventional surgery robot,doctors need to monitor the puncture operation process in real time.The traditional monitoring method is to use B-mode ultrasound image system to detect the relative position of human tissues and puncture needles in real time.However,the stability and accuracy of B-mode ultrasound image system is poor.Therefore,this paper presents a multi-modal perception system,which can monitor the relationship between the needle and human tissues in real-time during the operation of prostate interventional surgery robot.At the same time,a related control system is designed for the multi-modal perception system,so that it can perform the puncture operation better.In this paper,I searched of environment on the prostate interventional surgery robot,and analyzed the traditional monitoring methods in the process of prostate interventional surgery and the disadvantages of the existing monitoring methods.Combining with the disadvantages of existing monitoring methods,the real-time information needed to be monitored in the process of puncture operation is analyzed.Combining with the disadvantages of existing monitoring methods,the real-time information needed to be monitored in the process of puncture operation is analyzed.According to the types of information collected,I selected three kinds of sensors,include B-mode ultrasound image system,electromagnetic positioning system and force sensor system.By this way,I established a multi-modal perception system of prostate interventional surgery robot.Aiming at the multi-modal perception system of prostate interventional surgery robot,this paper preprocesses the data perceived by the relevant sensors,transforms the coordinates of the sensor output into the same coordinate system,and then divides several data into isomorphic data and heterogeneous data.Bayes estimationalgorithm is used to fuse the isomorphic data,aiming at heterogeneous data.The data are fused by neural network algorithm,which makes the data measured by the whole system more accurate and stable.According to the designed multi-modal perception system,I designed the needle insertion control system of the prostate interventional surgery robot.Based on the force feedback information and position feedback information of the system,the nerve network control is carried out,so that the needle insertion system can be controlled according to the real-time force signal of the needle,and the safety of the needle insertion system is improved.Aiming at the fusion algorithm and related control system used in the designed multi-modal perception system,this paper uses MATLAB software to simulate the related algorithm,and carries out the precision simulation test.It has been proved that the multi-modal perception system designed in this paper can make the prostate interventional surgery robot more accurate and stable.