Research On Mechanism Design And Master-Slave Control Of Vascular Interventional Surgical Robot

The mortality rate of cardiovascular diseases accounts for the first cause of human deaths and increases year by year.At the same time,intervention surgery can cause serious injuries to doctors.This urgently requires the introduction of robotics to assist physicians in performing minimally invasive vascular interventions.The master-slave surgical robot with a forceful telepresence can realize teleoperation,has a broad market prospect and huge demand,and has an exploratory significance for improving the basic medical level.This paper designed a new type of blood vessel minimally invasive interventional surgery robotic system with force feedback function and master-slave isomorphism.It focuseed on the core issues of the existing disinfection,force feedback,and delivery accuracy of existing vascular interventional robots.The main work and achievements are as follows:First of all,in view of the problems existing in surgical robots,taking into account the specific process of surgery,the detailed configuration design and structural design of the operating mechanism and delivery mechanism of the master-slave vascular interventional robot were carried out by using modular design method,and the overall performance parameters were calculated.Secondly,the influence of mass and stiffness on the dynamic characteristics of the delivery mechanism was studied,and it was found that the quality was the key factor affecting the dynamic characteristics of the delivery mechanism.Based on this,the finite element principle was used to analyze the lightweight parts of the moving finger and reduce the moving finger.The quality of the delivery mechanism improves its dynamic characteristics.The finite element analysis was performed on clamping jaws of different shapes and different opening angles.An optimal design was selected and checked for strength and stiffness under different working conditions.Finally,the dynamic models of the operating mechanism and the delivery mechanism wre established;an adaptive sliding mode controller with strong robustness was designed for the problem that the delivery mechanism is subject to non-linear,uncertain perturbation of the catheter/guide wire resistance.The adaptive sliding mode controller could accurately control master-slave position tracking.By comparing and analyzing the simulation results of different algorithms,it is concluded that the adaptive sliding mode control algorithm reduced the influence of uncertain external disturbances on the system stability,reduced the control deviation,improved the response speed,the robustness and precision of the system.