Design Of Force/Position Feedback System For Vascular Interventional Surgery Robot

This project comes from the key support project of National Natural Science Foundation of China-"Force Perception and Wire Guidance Control Mechanism of Wearable Precision Positioning Interventional Surgery Robot(U1713219)".In recent years,cardiovascular disease has become a huge killer threatening to human health.Traditional surgical treatment results in large tissue trauma and long recovery time.In addition,the effect of drug treatment is not ideal,and drug-related side effects are larger.Vascular interventional surgery has gradually become an important means to treat cardiovascular diseases because of its small trauma,high safety,light pain,rapid recovery and fewer complications.But at present,vascular interventional surgery requires doctors to wear heavy lead clothes and expose to X-ray for a long time,which will pose a huge threat to the health of doctors in the long run.In addition,prolonged operation leads to doctors fatigued and impaired concentration,which reduces the accuracy of the operation.Therefore,the robot assists doctors to perform interventional surgery in X-ray environment has gradually become a hot research direction for many major research institutions.At present,most of the prototypes of vascular interventional surgery robots lack feedback on the force exerted by the catheter in the process of vascular intervention,which makes doctors unable to accurately perceive the force exerted by the catheter in the process of vascular intervention.This paper presents and designs a new force feedback system for vascular interventional surgery robot.The system can feedback the resistance of the catheter in the process of interventional surgery in real time,and transmit the resistance to the doctor,so that the doctor can feel the resistance of the catheter in real time in the process of remote control,and increase the touch "presence" of the doctor,which will help the doctors to control the catheter better.At present,most of the vascular interventional surgery robots can only judge the position of the catheter in the interventional process by external X-ray irradiation,which leads to the problem that doctors and patients suffer from greater radiation.This paper presents and designs a new position feedback compensation system for vascular interventional robot.The system uses a safe magnetic navigation mode to detect the position and velocity of the catheter head in the process of intervention in real time.It can help doctors to judge the position and attitude of the catheter.In the later stage,the position of the catheter can be constrained according to the position of the catheter head.Increase the safety of the operation process.Firstly,this paper introduces the mechanism design of vascular interventional surgery robot,introduces and evaluates the new catheter pushing device;Secondly,introducing the design of force feedback system and position feedback compensation system of vascular interventional surgery robot;Finally,evaluating the force feedback system and position feedback compensation system of the robot in the vascular model,which verifies the feasibility and accuracy of the system.