Modeling And Trajectory Tracking Control Of Spiral Blood Vessel Robot

With the rapid development of today's society,the pace of people's life is accelerating,and good living habits are gradually ignored accompanied by the increasing incidence of cardiovascular and cerebrovascular diseases.In recent years,minimally invasive therapy has become one of the mainstream methods to solve cardiovascular and cerebrovascular diseases due to its unique advantages.Among them vascular robot is a new attempt in this field,which can avoid the disadvantages of traditional surgery and the research of vascular robot becomes a hot spot in medical field.However,how to make the vascular robot accurately move along the given trajectory in the complex vascular environment remains to be further studied.Therefore,spiral vascular robot is selected as the research object to conduct modeling,physical parameter optimization and motion trajectory tracking control.In this paper,the research background and status at home and abroad of vascular robot is firstly introduced to briefly analyze the possible problems in the practical application of vascular robot.In order to make the robot move in the blood vessel,the three-dimensional magnetic field is chosen to exert force on the blood vessel robot,and the formula of the magnetic field size is deduced according to the position of the robot to obtain the force situation of the robot in the three-dimensional magnetic field.For making the robot in the vascular environment to produce the most effective movement in blood vessels,spiral vascular robot dynamics model is established,and by using the artificial swarm intelligence optimization algorithm to optimize the relevant physical parameters of the robot the biggest propulsion can be obtained,which provides conditions for the tracking control of the motion trajectory in the blood vessel.The trajectory tracking control theory of the vascular robot is mostly focused on the plane motion trajectory.However,in the actual motion of the vascular robot,there are many kinds of motion modes like translation,rotation,pitching,and the motion state of the robot presents as three-dimensional motion in space.Therefore,the kinematics of the spiral vascular robot is analyzed and modeled,and the motion trajectory tracking model of the spiral vascular robot is constructed by combining the optimized dynamic model.Considering that the controller is easy to realize in the closed and complex environment of blood vessels,PID,fuzzy PID,RBF neural network fuzzy PID(NNFPID)control method is used to control the robot's trajectory tracking in order to obtain the precise trajectory.For proving the effectiveness of the method,the simulation results show that the three control methods can make the vascular robot move along the given trajectory accurately.Compared with PID and fuzzy PID control methods,NNFPID control method has higher control accuracy,meeting the requirements of the vascular robot movement in the blood vessels.