Traditional lung puncture surgery requires a very high level of experience and operational proficiency from the surgeon, and a slight inadvertence during the procedure can cause irreversible damage to the patient's lungs. At the same time, long-term exposure to X-ray radiation in the surgical CT room can cause significant radiation dose overload injuries to the surgeon. To address the above problems, this paper designs a novel robotic system for lung puncture surgery and investigates it for master-slave control. First, a mechanism that can deliver multiple medical devices simultaneously is proposed to enable rotation, delivery, clamping, and bending control of the medical devices; second, a method to manipulate the surgical robot using a touch panel is proposed; and finally, a combination of convolutional neural network and image processing is used to assist in controlling the automatic rotation of the endoscope to reduce the complexity of the surgery. The final animal experiment of the paper verifies the feasibility of the robot.
Non-linear devices in the power system greatly affect the power quality, and the adequacy of reactive power is one of the important indicators of power quality, so reactive power compensation technology is especially important for optimizing power quality. The static synchronous compensator (STATCOM) is by far the most advanced reactive power compensation device with the advantages of small size, fast response time and wide application range. In this paper, the main circuit structure of STATCOM is optimized by using LCL type filter, and the corresponding current-voltage complex control system is designed to improve the control accuracy and the stability of DC side voltage, and the simulation model is built by Matlab/Simulink, and the results show that the system has good compensation performance and low harmonic distortion rate.
Power transformer is the power grid of the voltage size of the place for lifting and upgrading, through the lifting and lowering of the voltage, can reduce the power loss in the transmission process and provide end users with a voltage level to meet the needs, is one of the most important equipment in the power system. Therefore, reliable condition monitoring and fast and efficient fault diagnosis of power transformers are required to ensure the good and stable operation of distribution transformers. In this paper, a comprehensive review and summary of the fault diagnosis research of power transformers is carried out.
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