Research On Reconfigurable Characteristics Of Catheter Robot

Minimally invasive surgery has become a hot spot in recent years because of its small trauma,quick recovery and good effect.In the context of interventional operation in the human pipeline,a reconfigurable catheter robot and its simulation software are studied in this paper.The system reduces the threshold of surgical technique by increasing the number of bending units and improving control precision.Through the reconstruction of the structure,it can meet the different requirements of the robot structure.The autonomous motion planning algorithm is used to realize the operation and control of the catheter robot,so as to liberate the doctor from the surgical field of strong radiation.The catheter robot system proposed in this paper is of great significance to the improvement of the quality of human life.In this paper,firstly,the digital description method of pipeline model is established by the modal function method and the line/ arc method.The operation requirements,pipeline constraints and obstacle constraints are unified to describe and modify the pipeline model.According to the requirement of interventional operation in the human pipeline,the basic module of reconfigurable catheter robot is proposed.According to the typical interventional operation environment,the unified standard of the robot serialization and the structure reconstruction is established.Then,based on the equivalent method of motion,the mapping relation between the operating space,joint space and drive space of single bending unit is deduced.The forward kinematics reconfigurable modeling algorithm of hyper-redundant chain system is studied.Based on the pipeline description model,this paper studies the model of the inverse kinematics of hyper-redundant chain system both in the pipeline and outside the pipeline.For the strong coupling relationship between the joint variables of a single bending unit,a generalized Jacobi matrix based on screw theory is established.The singularity of catheter robot is analyzed,and performance evaluation index of dexterity and passing ability through pipeline is established.An autonomous motion planning algorithm is established according to the typical interventional operation.In this paper,the principle of selecting the initial value for the global optimal solution of nonlinear equations is studied.And,based on the C++ language and OpenGL API,the robot 3D simulation software SurgicalRobot is compiled on the platform of QT5.7.The software includes modules of task planning,structure reconstruction,kinematics,3D simulation,and so on.Finally,this paper uses the three-dimensional simulation software SurgicalRobot and MATLAB to carry out the structural reconstruction of the catheter robot under the constraint of the task.It is verified that push mechanism can enlarge the working space while torsion mechanism can enlarge the flexible working space,which means they have an important position in the basic module of the reconfigurable robot.Based on the software platform,the correctness and the rapidity of the robot structure reconstruction,the kinematics model building and the task planning algorithm are verified.