| This topic comes from the national high technology research and development plan “863 Project”.The project name is the research and development of the robot in the Department of neurosurgery.In recent years,with the advantages of small wound,rapid recovery,the surgical instruments such as catheter and guide wire are widely used in the treatment of cardiovascular and cerebrovascular diseases.However,traditional cardiovascular interventional operation still exist many deficiencies,surgical instrument operation is relatively poor,and the dependent on the surgeons is relatively high.The auxiliary information is not comprehensive and intuitive,and surgeons will be subjected to X-ray radiation,also with a lot of noise interference.Surgeons’ health is difficult to have the safeguard.Therefore,the use of robot technology and medical technology binding energy effectively solve the above problems.The master-slave interventional surgery robot system is used.Sugeons can complete the surgery outdoor,and by this way,it can reduce the amount of the doctor’s radiation,enhance the operation safety.At first,the paper describes the background,introduced the master-slave interventional surgery robot system research,and summarized the domestic and foreign existing products and research results of scholars.Some problems are introduced in their work,also explains the purpose and significance of this topic.On the basis of the research results,the master slave robot system is designed.The main operating platform of the system,the electric control and mechanical structure are introduced.A detailed description was made for the structure of the master slave robot system.Secondly,in view of the position tracking control of the guide wire in the transportation process,the position control algorithm is adopted to realize the precise control of the position of the guide wire end.The design of master slave fuzzy control algorithm is completed.At the same time,the master-slave control algorithm with security function is designed,which is based on the force feedback detection device.The position compensation control algorithm is designed for the model of the guide wire in the blood vessel,and a simple guide wire model is designed in the blood vessel.At the end of the experiment,the accuracy of the master slave control algorithm is verified by the experimental results,and the accuracy of the force feedback system is verified.According to the problem of the efficiency of the whole operation process,the function of automatic guide wire is designed.Based on the end of the force feedback detection data,when the catheter reached a certain position,the slave system will stop.When the guide wire reached the front end of the catheter,stop automatically push movement,to switch to manual operations.And the surgery would be continued.The surgical procedure is completed.The method is helpful to improve the efficiency of the whole operation,and further enhance the effect of the overall operation.At the end of this paper,the evaluation of this master-slave robotic system is given,including system in actual real vessel model of evaluation from the end of the force feedback system,and the master-slave position control algorithm evaluation to verify the overall system security and stability. |
