Reserch And Development Of The Continuum Robot For Cardiac Interventional Procedures

Interventional cardiac surgery is a rapidly developing minimally invasive surgical technique that allows interventional instruments to be delivered to the affected area with a small surgical incision,resulting in less trauma,more effective,and less complications.In traditional cardiac interventional procedures,medical personnel are often assisted by external instruments,such as X-rays,to select the appropriate channel and slowly deliver the interventional instruments to the surgical site by manual means.The operation is complex,with high technical requirements for the medical staff,and the long-term exposure to radiation has a great impact on the medical staff,and the interventional instruments can only be bent in the direction of the guidewire by the knob,with limited movement and little automation.In this paper,we design a continuum robot for cardiac interventions with a smaller overall structure,simple manipulation and superior behavioral capabilities to address the problems in traditional cardiac interventions.Specifically,the following aspects are included.(1)Design of the mechanical system of the continuum robot.This paper begins by identifying the main functional demands and specifications of the target continuum robot.Based on this,the design of flexible robot arm and mechanical platform design,is completed.Mechanical analysis of the key components of the robot was performed to verify that their performance all met the requirements for use.The synthesis of the designed parts is completed with the combination of the robot mechanical system.(2)Kinematic analysis of the continuum robot.According to the structure of the proposed continuum robot soft arm and the driving method,the kinematic model of the double-joint soft arm is set up and the mapping relationship between the driving,continuum and operation space is analyzed.Simulation of the robot operating space was performed using Matlab to verify the correctness of the robot kinematic model,and the precision of the designed Newton iterative method for inverse kinematic solution was verified by test analysis.(3)Control system research of the continuum robot.The entire framework of the control system is built.In combination with the hardware part,the TwinCAT-based control system and the Qt-based upper computer development are accomplished.A study of motor control strategies under EtherCAT protocol and the implementation of motion control in different motion modes.The implementation of the data transfer between the host computer and the TwinCAT system under ADS communication is analyzed,and introduced the design implementation of the main modules in the host computer.(4)Experimental study and analysis of continuous body robotic cardiac interventions.Completed the machining and molding of the flexible arm and mechanical platform of the continuum robot,and built the robot prototype and trial platform.The robot space motion experiment was conducted,and the robot demonstrated a nimble double-segment bend control capability,verifying the feasibility and superior behavior of the robot control method.A robot motion control compensation model was established to enhance the control precision of the robot for the precision of robot motion control.Simulation of the access procedure for mitral and aortic valve interventions was completed in a heart model,and the designed robot was verified to meet the expected design purpose and functional requirements.