Force perception -based active breath-following control of a puncture ablation surgery robot end effector

During the process of remote microwave puncture ablation surgery in areas such as the liver and thoracic cavity, there are accompanying physiological movements due to the body's respiratory motion, as well as possible spasms and twitching of the body's muscles caused by factors like anesthesia and temperature. These physiological activities can easily lead to skin lacerations near the rigid percutaneous puncture ablation needle due to relative motion. To prevent this secondary harm to the surrounding skin caused by such movements, we designed a robot end-effector active respiration tracking method based on fuzzy variable admittance control of a robotic arm and sliding window half-wave analysis debounce algorithm. This method not only enables smooth zero-force tracking but also monitors real-time end-effector motion information to adjust the admittance parameters, thus avoiding the occurrence of potential oscillations. Finally, we conducted experiments by applying a random step-like oscillation to simulate spasms and twitching phenomena. The robot not only achieved zero-force tracking with forces less than 1.5N but also demonstrated excellent resistance to oscillations, showcasing remarkable flexibility and stability.