Study On The Collision Force Of The Interventional Surgery Training System

Minimally invasive vascular surgery(MIVS)is a surgical procedure for the diagnosis and treatment of cardiovascular and cerebrovascular diseases.It is a new type of medical surgery which will sent the interventional catheter and guide wire to distant lesions(such as intravascular coronary artery,brain,liver and kidney)along the lumen of blood vessels under the guidance of medical imaging equipment,and then carry on the diagnosis and minimally invasive treatment at the lesion site.It greatly improves the quality of the operation,reduces the operation trauma and the patient's pain,shorten the operation time and the patient's recovery cycle,so it is more and more widely used around the world.Because the surgical intervention must be implemented under the X rays condition and operation time is very long,so the surgeon will suffer the body damage.In order to reduce radiation,in recent years,the master-slave interventional surgical robot system has attracted more and more surgeon and patients.Based on the analysis of the present research situation of the domestic and foreign interventional surgery robot system,it is found that most of the robot systems lack the effective collision force detection module and the high precision tactile force feedback module.In order to solve these problems,this paper proposes a novel cardiovascular master-slave interventional surgical robot system,the system can accomplish the collision detection of the guide wire and vascular wall,and also provide the real-time haptic force feedback for surgeon at the master side.This paper focuses on the following two aspects:(1)Collision force detection based on 3R pseudo rigid body model.Through the contrast experiments of the collision force between the 6 sets of different bending angles,the feasibility of the method is verified.Compared with the cantilever beam method,the maximum error,mean error and mean square error of the system are obviously reduced,and the detection accuracy of the system is further improved under the condition of real-time collision detection.(2)PID closed loop force feedback control algorithm.By the contrast experiments,it is proved that the algorithm can effectively improve the accuracy of haptic force feedback.From the experimental results,it can be clearly observed that the detection error of haptic force feedback is obviously decreased after the addition of the algorithm.We presented two new algorithm for the novel surgical robot system from the view of collision force measurement and force feedback,and verify the feasibility of the two algorithms by experiments.The study completed the security policy of the novel surgical robot system by implementation of the collision force detection module in slave side and the haptic force feedback module in master side.And this study has very high practical value and significance.