Research On The Design And Control Strategy Of Vascular Interventional Operation Robot

In recent years,the robotics research has made considerable progress.The combination of robot technology and interventional surgery technology is one of the research hotspots in the field of medical robotics.Minimally invasive surgery has become an effective surgical way to solve cerebrovascular diseases because of its advantages of less trauma,faster recovery and fewer postoperative complications,and it is widely used in clinical.However,vascular interventional surgery needs doctors to do the operate of intubation and diagnosis in the radiation shielding room,which cause a lot of radiation damage for them.Meanwhile minimally invasive surgery have some disadvantage such as: its difficult maneuverability,the long period of operation training and prolonged surgery may affect the quality of surgery.In order to solve the above problems,this paper designs a set of vascular interventional robot system,its control technology are also been studied.The main works of this paper includes:(1)The mechanical structure of an interventional operation robot’s slave push device was designed,on this basis,the mathematical model of the slave control system is set up.The hardware and electrical system of the robot are set up,which mainly include the master manipulator,slave motor,driver,controller,strain gauge,strain tester,etc.(2)In order to solve the problem of the on-site implementation for the vascular intervention surgery,the master-slave control structure is used to design the interventional robot system.By measuring the actual master hands’ operation space,and using the D-H method to analyze the kinematics of the catheter,three kinds of vascular interventional robot system master-slave control method are designed.By analyzing its control characteristics and combining with the hardware environment,determining the control method in this paper.Lastly,the master-slave control system software of teleoperation is developed based on Visual Studio2013.(3)According to the requirements of vascular interventional surgery on the catheter positioning accuracy,through the comparative analysis of the correlation algorithm,the neural network PID controller is designed based on the vascular interventional robot,through the MATLAB simulation analysis,validation of the neural network PID controller is designed to achieve fast tracking accuracy and stability of the position of the catheter.(4)By building a prototype of a vascular interventional robot system and an experimental test platform,the performance test of the catheter push function of the vascular interventional robot system is carried out,validating the design of the vascular interventional robot system can achieve the catheter action of the axial feeding less than 1mm,the circumferential rotation angle error is less than 3 degrees.Then the tube feeding experiment with force feedback strain gauges was carried out in the phantom,which further verified the functionality of the interventional robot,and real-time feedback the different stress state of the pipe during the feeding process.