A Noniterative Neural Algorithm Involving Dini Derivatives for Visual Servoing of Joint-Constrained Robotic Endoscope

In minimally invasive surgery (MIS), surgical endoscope can be automated using visual servoing by incorporating motion constraints into a time-variant quadratic programming (TVQP). Zeroing neural network (ZNN) is a superior recurrent neural network (RNN) for solving TVQP in real time. However, ZNNs...

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Veröffentlicht in:IEEE transactions on industrial electronics (1982) Jg. 71; H. 8; S. 9520 - 9529
Hauptverfasser: Song, Biao, Li, Weibing, Pan, Yongping
Format: Journal Article
Sprache:Englisch
Veröffentlicht: New York IEEE 01.08.2024
The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Schlagworte:
Algorithms
Constraints
Convergence
Dini derivative
Endoscopes
Jacobian matrices
Operators (mathematics)
Optimization
Quadratic programming
quadratic programming (QP)
recurrent neural network (RNN)
Recurrent neural networks
robotic endoscope
Robots
Visual control
Visual servoing
ISSN:0278-0046, 1557-9948
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Zusammenfassung:In minimally invasive surgery (MIS), surgical endoscope can be automated using visual servoing by incorporating motion constraints into a time-variant quadratic programming (TVQP). Zeroing neural network (ZNN) is a superior recurrent neural network (RNN) for solving TVQP in real time. However, ZNNs cannot handle bound constraints in a TVQP directly and require differentiable elements, meaning that visual servoing requires the accelerations of feature points. Unfortunately, accelerations usually cannot be accurately retrieved. Motivated by the expected low accelerations in MIS, this article proposes a novel noniterative algorithm termed Dini-RNN to solve TVQP by introducing a Dini derivative operator. Unlike the existing ZNNs, the Dini-RNN can handle bound constraints directly and allows partial elements to be continuous but not differentiable everywhere. The convergence of the Dini-RNN is theoretically analyzed and proved. Subsequently, simulative and experimental results show that the Dini-RNN solution is effective to achieve visual servoing with superior performance.
Bibliographie:ObjectType-Article-1
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ISSN:0278-0046
1557-9948
DOI:10.1109/TIE.2023.3322010