Research On Alternating Progressive Cardiovascular Interventional Surgery Robot

Cardiovascular disease is one of the diseases with high mortality and morbidity.Vascular embolism of cardiovascular system is the most important clinical manifestation of cardiovascular disease.Cardiovascular interventional surgery is an effective treatment for cardiovascular diseases.In cardiovascular interventional surgery,doctors and nurses have to face the hazards of X-ray radiation.However,even wearing X-ray protective clothing can not completely avoid X-ray radiation.Moreover,heavy X-ray protective clothing can easily fatigue the surgeon,thus making the operation jitter more frequent,affecting the operation effect and safety.Cardiovascular interventional surgery robot is a way to reduce X-ray radiation.At present,the existing research of cardiovascular interventional surgery robots focuses on the delivery of guide wire and balloon catheter.Robots can complete the main surgical operations of vascular interventional surgery.The guide wire and catheter still need to be pushed by doctors bare-handed.In this process,although wearing X-ray protective clothing will also be exposed to X-ray radiation.With the advancement of medical treatment level and the development of surgical robots,cardiovascular interventional robots are designed to cover as many interventional procedures as possible to avoid the radiation damage of X-rays to surgeons.In this study,a master-slave control progressive cardiovascular interventional surgery robot is designed.The system can not only realize the cooperative push of the therapeutic guide wire and balloon catheter,but also complete the cooperative push of the guide wire and catheter,which makes up for the deficiency of the cooperative push function of the guide wire and catheter of the existing vascular interventional surgery robot.In this way,the operation function of the vascular interventional surgery robot covers more operation processes and avoids the injury of X-ray during the delivery of the guide wire and the catheter.The guide wire and catheter are pushed by alternating progressive method and pushed by synchronous belt drive combined with flexible electric gripper to imitate the doctor’s hands.Compared with single push wire and catheter,this push mode enables the guide wire to obtain the support of the catheter throughout the pushing process without bending,and the motion mode of the guide wire catheter is more in line with the push of routine operation.The master-slave architecture of cardiovascular interventional surgery robot system was designed,and the motion structure was modeled mechanically.The components were obtained by 3D printing and assembled into the robot slave mechanism.A human-computer interaction interface is designed to receive the master position information and send the motion control signal to the slave actuator.The raspberry pie 3B + is used in slave hand to control the movement of each module.The TCP/IP communication protocol is used for master-slave control.In master-slave control,variable limiting filtering algorithm is added to filter the master-hand displacement signal,which solves the problem of jitter of master-slave operation and ensures the safety of operation.In order to validate the function of cardiovascular interventional robot,the master-slave control model experiment of wire pushing was carried out.Through the analysis of X-ray image and force feedback data in each process of model test,the whole process of wire pushing is analyzed,and the whole system is evaluated.The experimental results show that the interventional surgery robot can well complete the interventional operation of the master-slave control,which lays a foundation for the development and research of the cardiovascular interventional surgery robot.