Master Manipulator Design And Master-slave Control Research Of A Vascular Interventional Surgical Robot

Cardiovascular disease has become the main reason for the death of human. With the rapid development of minimally invasive and intelligent surgery, robot technology has been one of important methods for cardiovascular disease. As an important part of surgical robot, the master-slave operation and control system is the key of researching and developing vascular interventional surgical robot. The displacement mapping of the master-slave operation and control system can realize micro operation, the force mapping can achieve fine operation, and the master-slave position tracking control based on force feedback can achieve remote operation surgery. The research and develop of master-slave operation and control system not only provides theoretical support for interventional operation, but also could be applied to the operation training providing a new way for the diagnosis and treatment of cardiovascular disease, which has important clinical value and broad application prospects. Based on the vascular interventional procedure and the robot system, This dissertation mainly focuses on some key issues, such as robot system master manipulator and master-slave control, etc.Firstly, according to the characteristics of vascular interventional surgery and artificial delivery catheter/guide wire using two fingers in the surgery, a new kind of master manipulator mechanism is developed. The design of a force feedback device using magnetic powder clutch, compared to extensive use of motor to provide force feedback, avoids the problem of shivering during surgery, and greatly improves the position accuracy and operation safety of the guide wire delivery.Secondly, the slave device is briefly introduced, and the master-slave operation mode is analyzed. The proportion of mapping relationship, the kinematic relationship and the force feedback principle between the master manipulator and slave device is analyzed, and combined with the clinical interventional operation process conclude the relationship of the operation between the master manipulator and slave device.Again, the master-slave operation and control system dynamics model is established, and the parameter adaptive fuzzy PID controller is designed, which is used to achieve accurate tracking of the master-slave position. The simulation shows that compared with the PID controller, the parameter adaptive fuzzy PID controller tracking error is low, and the error adjustment time is short, the dynamic performance of the system is good.Finally, a master-slave control platform is built and the experiment is studied. The experimental part includes the torque feedback calibrating experiments of the master manipulator, the accuracy experiments of the slave device resistance and the propulsive accuracy experiment of the master-slave operation and control system. The experimental results show that the master-slave system can effectively help surgeon complete vascular interventional surgery.