Design And Implementation Of A Vascular Interventional Surgery Robot Control System Based On Magnetorheological Fluid Haptic Feedback

Since the 21st century,the development of medical robotics has promoted the innovation of traditional surgical procedures,among which robot-controlled catheter/guidewire navigation systems are highly favored in the field of vascular interventions.The vascular interventional surgery robotic system adopts a master-slave control structure,in which the surgeon in the radiation-shielded chamber controls the slave surgical robot by operating the master operator to realize the advancement,retraction,and rotation of the catheter/guidewire in the human vascular system,and then completes the localization and treatment of the lesion in the human vascular system.In this project,we propose to use magnetorheological fluid technology to simulate and reproduce the force of the surgical catheter in the human vascular system and use the operating catheter as the master operating medium to guide the slave surgical robot to complete the catheter/guidewire delivery,to realize an ergonomic teleoperated vascular interventional robotic system that can fully utilize traditional surgical techniques.(1)A haptic force feedback-based vascular interventional surgical robot system was designed and completed,using the operating catheter and operating cartridge to achieve precise capture of the physician’s surgical movements.A method of reproducing axial haptic force feedback based on the operating catheter was realized by combining a magnetorheological fluid-based primary end haptic interface with an axial motion acquisition module.The magnetic field is measured using Hall sensors,and closed-loop control of force based on magnetic induction intensity is designed to solve the hysteresis problem of tactile force feedback control caused by the hysteresis effect of ferromagnetic materials.(2)A slave-side surgical robot using a fixture and a friction wheel as the catheter/guidewire delivery medium was designed and completed.The interplay of the fixture,motor,and three-stage telescopic catheter support unit was used to achieve axial and radial delivery of the surgical catheter,and the interplay of the friction wheel and the motor was used to achieve axial delivery of the guidewire.The performance of the slave-side surgical robot was evaluated to verify the performance of the slave-side surgical robot for the accurate delivery of surgical catheters/guide wires.(3)The master-slave control design of the vascular interventional surgical robot system was completed,and a cooperative control strategy was designed for the master operator and the slave surgical robot to achieve real-time accurate control of catheter/guidewire delivery by the master operator.A master-slave haptic force feedback control strategy is proposed to analyze the contact between the surgical catheter and the vessel wall,distinguish the risk of puncture based on the contact force,and establish multiple levels of haptic force that can be distinguished and perceived by the physician to achieve the safety warning of surgical operation.The feasibility and effectiveness of the vascular interventional robot control system based on magnetorheological fluid haptic feedback for vascular interventional operations were verified through human model interventional surgery experiments.