Control System Design Of Interventional Surgery Robot For Collaborative Operation Between Catheter And Guide Wire

In recent years,as the core of the catheter and guide wire surgical instruments,minimally invasive surgery is widely used in the treatment of cardiovascular and cerebrovascular diseases in the world due to its small trauma,quick recovery,etc.At present,the traditional cardiovascular and cerebrovascular intervention surgery exists problems like relatively poor operability of the instrument,the doctor’s dependence on the site is relatively high,auxiliary information is not intuitive and X-ray radiation in surgical procedures and so on.Moreover,the existing vascular intervention surgery robot can only send either catheter or guide wire.Due to many operation motions in surgery require coordination between catheter and guide wire system,robot systems sending a single catheter or guide wire are of little clinical significance.Therefore,through co-operation robot of catheter and guide wire,the doctor can do the surgery indoor.Not only is it more secure in positioning than artificial operation,but it also combines with the doctor’s surgical skills,which promotes surgical efficiency.Firstly,this paper describes the background of the subject.It introduces the research status of the master and slave interventional robotic system,and summarizes the existing products as well as the research results in domain and foreign area.Paper introduces some shortcomings in their work and illustrate the purpose and significance of this subject.Based on the research results at home and abroad,the co-operation robot between catheter and guide wire was designed,and the cooperative operation principle was introduced.The drive structure is designed,selected motor and drive and motion controller,and details of the master and slave robot system.Secondly,the control strategy of catheters guided interventional operation robot is introduced.The master-slave control algorithm is designed.The friction model between the hand and the slide is established,and the parameters are identified and compensated to the closed loop at the same time.The real-time and steady-state precision of the servo control are improved.Safety force feedback control was designed,and the warning value was calculated combined with the catheter or guide wire spring model.Then,we introduce the cooperative control software,including the overall design,human-computer interaction and motion control algorithm module,image visual navigation module,force feedback module and so on.Finally,this paper evaluates the characteristics of the robot system,including the reliability verification of the force feedback of manipulator from the slave side,and the evaluation of the master-slave motion control and force feedback in a human body vascular model,which verifies the safety and stability of the whole system performance.