Design And Research On Control System Of Transport Mechanism For Robot Of Vascular Interventional Operation

Minimally invasive vascular interventional robot is a hot topic in many universities.It aims to use robot to replace traditional hand to complete the whole process of interventional operation.The technique of robot intervention can not only reduce the surgical trauma,improve the accuracy of the operation,but also free the doctor from the operation room full of radiation.This kind of treatment will also guide researchers to explore more humanized surgical treatment methods.In this paper,the subject of "cardiovascular and cerebral vascular real-time interventional mobile operating robot system research and development" is the background of the research and development of the part of the guide wire conveying mechanism in the operation robot system,and the master and slave control of the conveying mechanism.The specific contents are as follows.First,we introduce the pathogenesis of cardiovascular and cerebrovascular diseases,and then introduce the operation principle of interventional therapy.Next,take the patient's coronary stent operation as an example,and introduce the whole process of doctors relying entirely on artificial operation.Finally,we introduce the system composition of robot assisted therapy for vascular interventional surgery,and also draw the requirement of the research and design of transport mechanism in this paper.Then,the software and hardware design of control system is completed around the conveying mechanism.The block diagram of control system is designed,and the communication connection between components is pointed out.The classification of the main hand is introduced,and the main performance indexes of the main hand are selected.The advantages and disadvantages of stepper motor and servo motor are compared,and the driver and controller needed for Maxon motor are selected.Itfocuses on the connection details between drive and motor,main parameters of driver and controller.The software design part discusses the initialization setting of the master hand,the API program design of VS2013 calling Elmo controller and the process of programming three motor human-machine interface.Finally,a closed loop control based on image feedback is realized,and a real-time image monitoring system is designed to capture the camera and display the collected image information.Next,the overall framework of master slave control is discussed,and the motion planning of main hand and slave hand as well as their motion association are discussed.The incremental mapping mechanism between the main hand and the slave hand is studied,and the mapping relationship between the main hand and the conveying mechanism and the guide wire is discussed.According to the motion relationship between the main hand and the hand,and the effective closed loop feedback,the master-slave control strategy is presented.The prototype of the Iron Roughneck has been tested.The clamping action and processes of different specifications of drilling tools were observed and recorded.The experimental data were collected and analyzed to verify the correctness of kinematics modeling of the clamping mechanism.Finally,before the experiment,we completed the FSS pressure sensor calibration experiment,proving that its accuracy is suitable for the requirement of the friction block clamping force judgement.The experiment of catheter guided wire intervention was carried out by the silica gel model in the laboratory.It was proved that the master slave control can control the conveying and twisting of the guide wire of the conduit,and the compound action between them.Then,the accuracy experiment of the conveying mechanism is carried out.The experimental results further verify the feasibility and effectiveness of the conveying mechanism in the structural design.