Research On Master-slave Synchronous Control Of Vascular Interventional Surgery Robot

Minimally invasive vascular interventional surgery has become one of the main clinical modalities for the treatment of cardiovascular diseases due to their advantages of small intraoperative incisions,precise lesion localization,flexible device delivery,high safety,and rapid postoperative healing.At the same time,human-machine collaborative surgery with the assistance of a vascular interventional robot can further improve the precision and safety of the procedure,avoid X-ray radiation to the surgeon,and make remote surgical treatment a reality.Therefore,vascular interventional surgery robots have become a hot research topic in the field of medical engineering.Clinically,in order to ensure the success of interventional surgery,the master-slave synchronization control of the surgical robot needs to have high stability and followability,so that the robot action execution is stable without oscillation,and the master-slave action is highly synchronized to meet the doctor’s operation requirements.However,there are transmission delays and fluctuations in the size of the master-slave interaction commands of the robot,which seriously affect the synchronous control performance of the system.In this thesis,we develop a surgical robot system by studying and analyzing related technologies,and use it as a research platform to study the master-slave synchronous control of the robot and the impact of instruction transmission delay on the synchronous control performance of the system.The main work of this thesis includes:(1)In response to the drawbacks of traditional vascular interventional surgery and combined with the operation process of surgeons in surgery,a master-slave teleoperated surgical robot system was developed.(2)The multi-connection adaptive fixed-delay communication method is proposed to address the transmission delay and command stickiness of interactive commands in robot master-slave teleoperation,and the method ensures the orderly and reliable transmission of commands and fixes the transmission delay in an adjustable manner.(3)In order to reduce the dependence of the control system on the accuracy of the controlled object model and the influence of the system’s time delay,the fuzzy PID control method and the Smith prediction control method are investigated and the Smith-Fuzzy controller is designed.Further,a multi-connection adaptive fixed delay method is applied to reduce the impact of command transmission delay fluctuations on the system.The simulation tests verify that the system effectively overcomes the influence of command transmission delay on the system performance under the action of Smith-Fuzzy controller,and the stability and following of the master-slave synchronous control meet the design requirements.(4)Building a system-human vascular model experimental platform and a system-animal experimental platform to test the following accuracy and stability of the master-slave synchronization control of the developed surgical robot system,as well as to verify the feasibility and safety of the surgical robot system in the clinical setting.