Design And Study Of A Master-slave Operation System For The Vascular Interventional Surgical Robot

With the development of science and technology,the intelligent and efficient robot technology assist vascular intervention surgery can improve the level of cardiovascular disease treatment.In order to protect the safety of doctors,the master-slave mode is adopted in the control system of the robot.The purpose of force feedback is to improve the reliability and safety of master-slave operation.The design of master-slave control operating system can meet the requirements of vascular interventional surgery which can not only provide security for interventional surgery,but also apply the research results to surgery training and training which has important clinical value and broad application prospects.First of all,according to the characteristics of vascular interventional surgery,a mechanical mechanism is designed to let doctors operate at the main end far away from patients.The mechanism can collect the resistance information of the surgical catheter in the pushing process through the slave end force detection device and transmit the force information to the main end.It can active the force feedback by adjusting the speed of the main end motor.This method is rapid and effective,improves the accuracy of catheter delivery from end to end and ensures the safety of operation.Secondly,according to interventional surgery is a non-linear system.So in view of this reality,a PID controller based on BP neural network is designed which is on the basis of traditional PID.This controller can adjust the parameters of PID controller according to the surrounding environment in real time,so as to better control the motor work.Through MATLAB simulation,the new controller and the traditional PID control are compared.The advantages and disadvantages of the controller verify that the new controller has the advantages of low tracking error,fast reaction speed and good dynamic performance of the system.Thirdly,because the master-slave operating system is adopted,doctors can not directly observe some information of the slave end(operation site)including displacement information,rotation angle information and collision force information between catheter and vessel wall.Based on a C + + graphic development platform developed by QT company,a multidimensional information monitoring system is designed,including the front end and side of the catheter.The colliding force between the wall and the blood vessel,the axial displacement and the radial rotation of the blood vessel and other information that affect the operation safety during the operation of the end-to-end catheter.Finally,according to the built master-slave system platform,the simulation experiment is carried out.These experiments include the force feedback experiment of the master-slave end,the propulsion accuracy experiment of the master-slave operation including axial displacement and radial rotation.These experimental results show that the new master-slave operating system can effectively assist surgeons in vascular interventional surgery.