Study Of The Tactile Sensation-based Robotic Catheter System For The Vascular Interventional Surgery

In recent years,the cardiovascular disease has become the first killer to threaten to human's health.The treatment for this disease has a growing,but is still exist some problem,such as that the vascular interventional surgery has a problem of X-ray radiation.Although the vascular interventional surgery robot system can solve some problems of the traditional vascular interventional surgery,it also exists some problems such as low stability.According to these problems,this paper has researched on the vascular interventional surgery robot.A master-slave vascular interventional surgery robot system was designed,and the performance evaluation and improvement of the system was done.This paper has proposed and designed a master manipulator of the master-slave vascular interventional surgery robot system to solve the problem of most system cannot using the doctor's experience fully.The master manipulator allows doctors to operate a real catheter,which can make full use of the doctor's skills got in the traditional vascular interventional surgery.In addition,this paper has designed a damper based on MR(Magnetorheological)fluid to realize the force feedback according to the problem that some systems are lack of force feedback.It can feedback the resistance detected by the slave manipulator to the doctor's hands through the operation catheter,which can provide the tactile sensation to the doctor.And,it can improve the safety of the surgery.This paper has designed a novel grasper to solve the problem that some systems exist relative slip between the catheter and the fixture when using the friction wheel to push the catheter.The grasper can clamp the catheter without relative sliding and damaging the catheter.In the same time,the performance experiment of the grasper was done in this paper.In meantime,this paper has designed a slave manipulator which can imitate the doctor to push the catheter.In addition,the slave manipulator has installed the force detection device to provide force feedback information.This paper has designed a force sensor installed on the tip of the catheter to detect the contact force and the collision force between catheter tip and the blood vessel.In the same time,the force information will be transmitted to multidimensional information monitoring interface to warn the operator.In meantime,this paper has designed a multidimensional information monitoring interface to solve the problem that the doctor cannot perceive some important information when separated from operating room.The interface can overcome the shortcomings of the existing technology with the advantages such as simple structure,convenient to operate and providing to the doctor important information.It can help the doctor to operate and improve the safety of the interventional surgery.This paper mainly introduces the hardware and software design of the master-slave manipulator.In meantime,This paper introduces the realization of the tactile sensation and the design of the multidimensional information monitoring interface.At last,we introduce the performance evaluation of the grasper and the multidimensional information monitoring interface,experiment of the force feedback and evaluation of stability of the synchronous movement to verify stability and accuracy of the system.