Research On The Mechanism Design And Control Of The Interventional Surgery Robot For Liver Cancer

In recent years,with the increasing morbidity and mortality of liver cancer patients worldwide,interventional therapy for liver cancer has become the first choice for non-open surgery.However,the traditional interventional treatment of liver cancer must be performed in an environment with X-rays.In order to avoid radiation damage to doctors,doctors need to wear heavy lead clothing during liver cancer interventional surgery.The long-term operation will cause great pressure on the doctor’s spine.The emergence of interventional robots for liver cancer can liberate doctors from the radiation environment.This paper firstly introduces the traditional interventional therapy for liver cancer,compares the interventional surgery for liver cancer with other vascular interventional operations,analyzes the characteristics of the interventional therapy for liver cancer and determines the key points of operation: Compared with traditional cardiovascular interventional surgery,liver cancer interventional surgery must use both a microcatheter and a guide wire to enter the femoral artery,after the guide wire guides the microcatheter to the lesion,an embolic agent is injected into the target vessel through the microcatheter.In this paper,a master-slave operation surgical robot is designed,which can simultaneously deliver two kinds of interventional instruments,a guide wire and a microcatheter,and perform drug injection independently.The slave-end guide wire clamping claw can be rotated to ensure that the guide wire avoids the blood vessel bifurcation and successfully enters the tumor blood supply vessel.The master-end mechanism has the same configuration as the slave-end mechanism,and is used to control the delivery of guide wires and microcatheters,as well as drug replacement,shock and injection,which restores the doctor’s actual surgical operation process.A master-slave force feedback system is built,and the sensor installed in the slave-end mechanism delivers resistance feedback from the end guide wire to the master-end mechanism.The master-end motor provides resistance torque for doctors,provides doctors with a sense of surgical presence,and ensures the safety of interventional surgery.The closed loop of the guide wire delivery position is constructed by the encoders at the master and slave ends,which ensures the accuracy of the operation.This paper uses Adams software to carry out dynamic simulation of the designed delivery mechanism,uses Ansys Workbench software to carry out static analysis and topology optimization design of the mechanism,and optimizes the mechanical structure of the robot.In view of the influence of uncertain factors on the system stability in the slave-end control system of interventional surgery,this paper uses the Active Disturbance Rejection Control strategy to control the delivery end,determines the parameters of the active disturbance rejection system,and improves the anti-disturbance capability of the system.Finally,this paper builds an interventional surgery robot control system to evaluate the performance indicators of the interventional robot for liver cancer.