Research On Immersive Interactive Vascular Interventional Surgery Robot And Its Force Feedback Technology

Minimally invasive interventional therapy is the main trend and development direction of the treatment of cardiovascular and cerebrovascular diseases in recent years,but some shortcomings of traditional manual interventional surgery have limited the application and development of minimally invasive interventional surgery to a large extent.With the development of robotics,sensor technology,information technology and other high-tech,the design and development of a medical robot for interventional surgery has become a research hotspot in the field of "medical-industrial integration".In this paper,the functional requirements of the interventional surgery robot are clarified by analyzing the traditional surgica l techniques in the process of interventional surgery.From the perspective of ergonomics,the functional units of the interventional surgery robot are corresponded to the traditional surgical techniques one by one,and a passive robot-assisted intubation prototype system is designed.When the doctor operates the main manipulator remotely,the information of the doctor's hand movement can be perfectly reproduced from the slave manipulator,and then the guide wire/catheter can move precisely towards the focus.However,for the operating doctors,it is crucial for the whole interventional surgery robot system to have an immersive sense of presence,which can not only improve the user experience,but also effectively protect the patient's life and safety.Based on this,a set of force feedback device based on magnetorheological fluid damper was designed in this paper,and its simulation and optimization design were carried out,which greatly improved the safety of surgery and the reliability of the whole set of equipment.After completing the design of the master-slave manipulator and force feedback device of the interventional surgery robot,this paper also designs a three-level interactive master-slave control mode,which takes the core control hardware as the bottom layer,the core control algorithm as the middle layer,and the human-computer interaction interface based on image acquisition module as the upper layer.The goal of the control system is to achieve the cooperation of master and slave operators,and to propel the guide wire/catheter to the focus smoothly.Finally,on the basis of the overall function realization,a series of verification experiments were designed and completed,quantitative analysis was conducted on the acquisition accuracy of posture information of the main manipulator,the execution accuracy of posture information of the slave manipulator,and the master-slave control accuracy,and verification experiment of human body model were conducted on the whole interventional surgery robot s ystem.The experimental results show that the interventional robot system can fully realize the intervention function and meet the medical precision requirements.