Collaborative Control And Operational Safety Warning Study Of Robotic Catheter/guidewire For Vascular Interventional Surgery

The introduction of surgical robots has brought innovation to vascular interventions,but some new challenges have emerged at the same time.Studies have shown that successful clinical outcomes are highly dependent on the surgeon’s level of skill and experience.The current design of the main end manipulator of the vascular interventional surgery robot system takes little account of the catheter/guidewire manipulation behavior of the traditional clinical surgeon.Also,the tele-operator lacks visual force/tactile feedback of the catheter in contact with the vessel,increasing the risk of the procedure.Thus,the design uses magnetorheological(MR)fluid technology to simulate the reproduction of the force on the surgical catheter/guidewire in the human vascular system.Use the operating catheter as the main end manipulation medium to guide the slave surgical robot through catheter/guidewire delivery.Enabling ergonomic,teleoperated vascular interventional surgery robotic systems that take advantage of traditional surgical techniques.The main studies are as follows:(1)A novel main-end manipulator based on magnetorheological(MR)fluid technology is proposed.A main-end haptic feedback device with a helical structure was designed so that the magnetic flux activates the magnetorheological fluid several times along a serpentine path,realizing a reproduction of passive power haptic feedback based on an operating catheter.The motion information acquisition device using encoder and laser sensor module enables the acquisition of the surgeon’s traditional surgical operation techniques.(2)Designed a slave surgical robot that uses a friction wheel as a delivery medium for catheters/guidewires,and realized the synergistic operation of catheters/guidewires through the cooperation of catheter manipulators and guidewire manipulators.The current-drag-velocity model was developed by analyzing the current loss of the drive motor for different delivery resistance based on a specific delivery speed range.Enables the slave surgical robot to measure catheter delivery resistance without additional force sensors.The motion performance evaluation experiments of the slave-end surgical robot have verified that the designed slave-end surgical robot has good stability and accuracy.(3)A tactile alert-based force feedback and master-slave motion tracking control strategy is proposed to provide surgeons with operational safety warnings to avoid catheter damage to the vessel wall.Using the humanoid vascular system model as the experimental object,the feasibility and effectiveness of the designed vascular interventional surgery robot system and control method are verified through the highly reproduced human vascular environment.