Research On Interventional Surgical Robot System Based On Catheter And Guidewire

Minimally invasive vascular interventional surgery has become an important medical technology research trend, which has been gradually recognized and accepted by people. Vascular interventional surgery can finish the surgery operation with small wound and fast recovery etc. However, vascular interventional surgery causes poor surgery environment and larger radiation to the doctor. A longer operation time, makes doctor more fatigue and affects the quality of surgery. The doctors are expected to extricate from surgery environment and ensure the quality of operation. Therefore, a surgical robot system is utilized to assist doctors, which becomes the hot research issue in the world.The main research topic of this paper is to develop the surgical robot to treat liver tumors, which is based on interventional catheter and guidewire. This paper analyzes the state of the art of active, passive interventional surgical robot, designs the passive interventional surgery robot, and verifies the operability and reliability of the robot system through experiments.First, the tradional process of intervention operation is analyzed. According to the various surgical techniques, the functional requirements of the robot is discussed, the integrated robot system is designed, and the structural units of the robot are devided according to functions, which match the traditional surgical approach. The structure units of the robot is designed in detail, including the pushing actuators, rotary actuators twist, catheter adjustment device, and attitude adjustment device. Three-dimensional model of the robot is established, the movement and the interference of the system is checked, and the motion performance of the system is analyzed.Then, the robot control system with monitoring and human-computer interaction is built up based on master-slave configuration. Three-layer structure is utilized in this robot control system. The upper layer is human-computer interaction, the lower layer is the driving layer, and the middle layer is core control layer which performs the motion control and the master-slave algorithm. According to the functional requirements, the hardware system is analyzed and designed. Omega7 is employed to perform master-slave control, and operator can remotely control the robot to complete the operation. The main function of monitoring system is carried out by camera which acquires the image and transfers to the display in the human- computer interface.Research on the master-slave control algorithm is carried out. According to the requirements of the surgery, the master-slave motion control is planned. Based on analyzing the parameters of Omega7, according to the stroke and accuracy of the master hand, the output information is decoded, which is convenient for designing the control algorithm. Three master-slave control algorithm candidates are proposed, of the one with excellent real-time performance is chosen based on debugging and analyzing. Sixteen kinds of the robot end-effector movement is written as the state functions, which is used to control the catheter guide wire with the keyboard inputs.Finally, the experiments are carried out. The main parameters of Omega7 are tested, and the master-slave control algorithm is verified. Based on the hand-made vessel model, the experimental platform is built up, on which simulation operation is performed. Various methods of the operation is validated and the catheter and guidewire are also sent to the assumed lesion site successfully.