Research On The Coupling Modeling And Error Correction Control Method Of Spiral Vascular Robot

With the improvement of living standard,the incidence and fatality rate of cardiovascular diseases are higher and higher,so cardiovascular diseases have become one of the most important diseases in medical circles at home and abroad.At present,the most mature treatment for cardiovascular diseases is traditional vascular interventional surgery.However,this method requires medical staff to perform surgery in a radiation environment for a long time,which will cause irreversible damage to the medical staff and requires medical staff with rich experience.For patients,the surgical wound is larger and the recovery time is longer,which aggravates the psychological and economic burden.Based on this,a method combining robotic technology with minimally invasive surgery is proposed.As a relatively mature and advanced method for the treatment of cardiovascular diseases,surgery has high precision,which can not only relieve the pain of patients,but also has low requirements on medical staff.Therefore,micro-vascular robot technology has attracted the attention of relevant people both domestic and foreign.The object of this study is a spiral vascular robot which can move freely in the blood.It is mainly composed of magnetic spherical head and spiral tail.This paper first introduces spiral vascular robot modeling method,the drive mode and controlling means,this paper mainly includes the following aspects in order to obtain more accurate control:the first is to establish a spiral robot kinematics,dynamics pose track coupling model for adaptive robust control and corrective control to lay the foundation;The second is to study the effect of blood pulsation field to analyze the resistance of the robot in order to simulate the role of blood;The third is to establish a gravity-buoyancy compensation device in the vertical direction to achieve the purpose of not touching the blood vessel wall;Fourth,on the basis of the mathematical model of the robot,in order to improve the speed and achieve certain control accuracy,two control methods are designed and the control simulation is carried out separately,and the control results are compared and analyzed.This paper first establishes a coupling model of spiral vascular robot based on the theory of even fours and spirals,and the trajectory motion and attitude motion are described respectively.The coupling between the two tracks is analyzed.Lay the foundation for correction control.Secondly,the robot is subjected to force analysis.The gravity-buoyancy compensation device was established by external three-dimensional magnetic field to cancel out the sinking motion under the influence of gravity and buoyant force.Ensure that the robot is able to perform the desired movement,thereby reducing contact with the walls of blood vessels.The influence of pulsating flow effect and vessel wall motion on blood flow velocity is analyzed,which is reflected in the resistance of vascular robot.On the basis of the above analysis,the adaptive robust controller is designed,and the linear and curved track control simulation is carried out to prove its effectiveness.Finally,based on the description of attitude motion and trajectory motion,a trajectory correction controller based on adaptive robust control algorithm is designed to realize more fine motion control of vascular robot,and the stability is proved.Finally,the trajectory tracking control simulation is carried out and compared with adaptive robust control simulation to verify the superiority of the control method.