Research On Key Technologies Of Human-Machine Cooperation For Vascular Interv Ention Robot

Data from these years show that cardiovascular and cerebrovascular diseases are the number one cause of death in middle-aged and elderly people.At the same time,the incidence of this disease is gradually becoming younger every year.In this situation,vascular interventional surgery emerged as the times require,but there are still a lot of problems in the process of interventional surgery:(1)Doctors need to be in an X-ray operating room environment for a long time,which will cause cumulative damage to the surgeon;(2)Surgeons are prone to fatigue due to long-term operation,resulting in insufficient precision.During the operation,doctors staring at blood vessel images for a long time will cause visual fatigue.In this case,operating the tiny catheter guide wire will reduce the safety performance of the operation;(3)The requirements for surgical experience are relatively high,and the above-mentioned problems can be well solved by using the interventional surgical robot technology.Aiming at the above problems,this paper studies the human-machine collaborative sharing operation of interventional surgery.First,a human-machine collaborative shared control strategy for interventional surgical robots is proposed.The shared control strategy of the tele-operated robot is investigated and analyzed,and it is combined with the tasks of cardiovascular and cerebrovascular interventional operations,and a shared control strategy based on human-machine trust is proposed.Through the analysis,the key factors affecting the humanmachine coordination of interventional surgery are obtained:the doctor’s operation performance,the position of the guide wire tip,and the collision force between the guide wire tip and the vessel wall.A safety evaluation model is established for these three factors,and they are combined to establish a safety evaluation model.Human-Machine Trust Model.According to the human-machine trust model,the human-machine collaborative sharing control strategy is established,namely the masterslave collaborative mapping model and the multi-mode switching mechanism.The instructions are zoomed in or out to improve the efficiency and safety of the surgery.Secondly,a master-slave control model based on unilateral force feedback is proposed for places with complex vascular conditions.The operation of vascular interventional surgery is analyzed,and the collision force between the guide wire and the blood vessel wall has a great influence on the safety performance of the surgery.In the experiment,when the tip of the guide wire collides with the vessel wall,the mechanical information of the slave device will be changed and displayed in the form of current.The information is introduced through the unilateral force feedback model,and verified through MATLAB Simulink simulation experiments and physical experiments.stability of the model.Then,for the scene with simple vascular condition,an autonomous wire feeding strategy of interventional surgery robot is proposed.Firstly,the task of interventional surgery is analyzed,and four kinds of capabilities that the surgical robot needs to have to complete the operation autonomously are obtained,and the robot can be equipped with these capabilities through the corresponding scheme.This paper mainly studies the thinking ability that the surgical robot system needs to have,and proposes a wire feeding path planning method based on the Random Roadmap(PRM)algoritlum and a geometry-based guide wire tip trajectory matching method,so that the robot has the ability to autonomously feed wires.And through simulation experiments to prove the feasibility of the theory and through physical experiments to verify the effectiveness of autonomous wire feeding.Finally,an extracorporeal blood vessel model and a wire feeding device platform are built.The operator uses a hand controller at the remote end to control the push and rotation of the guide wire.The autonomous system adjusts the master-slave operation mapping ratio independently according to the surgical state,and performs human-machine collaborative sharing of interventional surgery.The simulated physical experiment of the control verifies the feasibility of the human-machine collaborative sharing control strategy.