Study On Operation Safety And Intelligent Control System Of Vascular Interventional Surgery Robot

Cardiovascular and cerebrovascular diseases can be better treated by introducing vascular interventional surgery robot.At present,the vascular interventional surgery robot has low safety and poor control performance.This thesis conducts research to improve its operational safety and control performance.First of all,aiming at the problems that the existing catheter manipulator is difficult to disassemble and disinfect,the efficiency of catheter placement and replacement is low,and the catheter is easy to be damaged and slipped during operation,this thesis designs a bionic finger mechanism that can clamp and twist the catheter by using SOLIDWORKS software,and makes simulation analysis on the virtual prototype by using ANSYS and ADAMS software to verify the rationality of the structure.Then,the prototype is built through metal processing,and it is applied to vascular interventional surgery to effectively improve the operational safety and portability.Secondly,the slave end of the master-slave vascular interventional surgical robot needs to be placed on the patient’s side,while the doctor controls the slave end of the robot through its master end,which leads to low safety and transparency during the operation.In order to solve this problem,this thesis designs an operation safety early warning system,which provides doctors with multidimensional information,and prevents the puncture of blood vessels during the operation through an early warning mechanism when doctors do not operate properly.Then,this thesis designs an intelligent control system based on the new structure,and solves the problems of poor performance and low tracking accuracy of master-slave synchronization of robots at present by designing fuzzy adaptive PID-Smith algorithm,and verifies the efficiency and superiority of fuzzy adaptive PID-Smith intelligent control method in master-slave control of vascular interventional surgery robots by comparing with other control methods.Finally,the safety evaluation and master-slave synchronous motion related experiments are carried out to verify the effectiveness and superiority of the bionic finger mechanism,safety early warning system and intelligent control system designed in this thesis in the operation of vascular interventional surgery robot.The clamping performance evaluation experiment shows that the bionic finger designed in this thesis can effectively clamp the catheter,and the catheter will not slip during the operation.The movement performance evaluation experiment shows that the axial and radial performance of the prototype built in this thesis meets the operation requirements,and the early warning mechanism evaluation experiment shows that the early warning mechanism designed in this thesis can prevent accidents during the operation.The experiment of master-slave synchronous motion shows that the average error of masterslave axial tracking using the fuzzy adaptive PID-Smith algorithm designed in this thesis is 0.58 mm,and the average error of master-slave radial tracking is 0.94.By comparing with different algorithms,it is verified that the control accuracy is significantly improved compared with the single use of PID and fuzzy adaptive PID algorithm,and the accuracy of axial synchronous motion is improved by 31% and 18%compared with the single use of fuzzy adaptive PID algorithm.In radial synchronous motion,the accuracy is improved by 29% compared with that of single PID,and by 16%compared with that of single fuzzy adaptive PID.