The Implementation Of Vascular Interventional Surgery Teleoperation Technology

Because of the prevalence of vascular diseases in recent years,Vascular interventional surgery is becoming more and more common.The interventional procedures need medical personnel work under X-rays for a long time.It is a great harm to the medical personnel.In order to avoid the radiation of X-rays,vascular interventional surgery robot must be developed to replace the surgeon.First,based on the real surgical procedures,the whole framework of the robot was designed.The vascular interventional surgery robot used a master-slave method to realize teleoperation.The master station is the control terminal which is operated by the surgeon.The slave station is the implemented terminal.It is mainly responsible for the orders which is sent by the master station.In order to simulate the surgeon's operation,a four clamping manipulators solution was put forward and the corresponding motion platform was designed.The instrument cabin and Control mechanism were carefully designed too.According to the distributed framework,a distributed hardware circuit was presented.After comparing several common bus control mode,a communication system based on the CAN bus was selected.Then,vascular interventional surgery robot's mechanical structure and control system were introduced in detail.the mechanical structure include the master joystick,Clamping manipulator,motion platform and instrument cabin.In order to simulate the surgeon's operation better,the slave mechanical structure was biomimetic.The control system includes hardware framework and software system.A distributed hardware framework based on CAN bus was adopted.By comparing several commonly used control system in industry,a multi-site communication system based on STM32 processor was selected.The power supply module,CAN bus communication circuit,motor drive circuit and the sensor module were designed.The whole software system contain the stepper motor control program based on pulse sequences,brushless DC motor control program based on PID and the CAN bus communication protocol based on extend frame.Finally,some experiments were done on the vascular interventional surgery robot.a comprehensive test was carried on by clamping manipulators performance testing,catheter and guide wire manipulation experiments and surgical procedure validation,which laid a solid foundation for the subsequent animal experiment.Compared to the traditional vascular interventional surgery robot system,the new vascular interventional surgery robot can not only realize more complex movements,but also simulate the surgeons' operating procedure.