Study Of Master-slave Intervention Operation Catheter Robotic System Force Feedback And Fuzzy Control

This subject originates from the national youth natural science foundation project (No.61105099), and its name is “Research on modeling and control for a flexible catheter distalmaster-slave interventional operation”. In recent years, interventional surgeries that usescatheter as the core equipment are widely used in the world scope for the treatment ofcardiovascular diseases because of minor trauma and quick recovery. While the traditionalcardiovascular interventional operation still exist many problems: operation tool’smaneuverability is poor, the doctors are highly dependent at the scene, the auxiliaryinformation is not intuitive and comprehensive, and doctors suffer from X ray radiation andhuge noise in operation process, so safety of doctor and patient is difficult to protect.Combination of robot technology and medical technology can effectively resolve problemsmentioned above. By means of master-slave catheter robotic system, the doctor performs theoperation in the remote to control robot intubation. It is more accurate than manual intubation,reduces the amount of radiation to doctors and patients, and enhances the safety of theoperation.Firstly, the background of the subject is expounded, and the research statuses at home andabroad on master-slave interventional operation catheter robotic system are introduced. Theresearch results of scholars at home and abroad are summarized, the deficiencies are analyzed,and the purpose and significance of the subject are introduced. A master-slave interventionaloperation catheter robotic system on the basis of research results at home and abroad isdesigned, master-slave structure of the system is introduced, and the structure and model ofslave side are discussed in detail. The geometry model of catheter and dynamics model ofslave side when catheter axially moves are established, and then movement model of heart isestablished where the slave side is located.Secondly, a variety of position control algorithm is used to solve position control problemin the process of catheter conveying, and to realize that catheter tip of slave side accuratelytracks the master end position command. The fuzzy PID controller and variable universe fuzzyPID controller are designed. The simulation results show that the fuzzy PID control increasesthe response speed of system, improves the anti-jamming performance, enhances the safety of operation, and is feasible in catheter robotic minimally invasive operation. Variable universefuzzy PID control improves the fuzzy PID control. It solves the contradiction of trackingprecision, response time, and response speed, enhances robust performance of catheter roboticsystem, and ensures safety of the operation. It is verified that the variable universe fuzzy PIDcontroller is feasible and effective.In the end, force feedback and force control of master-slave interventional operationcatheter robotic system are discussed, the distribution of force sensor and realization of forcefeedback function are introduced, and then different kind of force control strategy areproposed to control a catheter robotic system. Impedance control based on position convertsforce control to simple position control, and does not need accurate model of catheter, so it isan optimal control strategy of the system. Then the predictive controller is designed to solveinherent time delay problem among force information collection, transmission and operation.The control action of future is calculated by the performance function. The simulation resultsshow that the predictive control method compensates for delay time by predicting cardiacsynchronous motion, enhances the tracking precision, and improves greatly the safety ofmaster-slave interventional operation catheter robotic system.