Research And Design Of Vascular Interventional Robot System

Minimally invasive surgical robot has become the research hotspot in the field of medical robot by combining the robot technology with the minimally invasive surgery technology.As an effective way to solve the vascular disease,minimally invasive vascular intervention has been gradually accepted by humans for its small trauma,recover quickly,less postoperative complications and etc.However,vascular interventional surgery needs doctors to do the operate of intubation and diagnosis in the operating room,which cause a lot of radiation damage for them.Because of the low precision of artificial intubation and the lack of force at the end of the catheter,it is difficult to guarantee the safety of vascular interventional surgery.In view of the above problems,this paper designs a set of vascular interventional robot system by analyzing the related key technologies The main works of this paper includes:(1)Clear the related design requirements and design indicators of the vascular interventional robot system through the analysis of the characteristics of vascular intervention surgery.(2)In order to solve the problem of the on-site implementation for the vascular intervention surgery,the master-slave control structure is used to design the interventional robot system.By measuring the actual master hands' operation space,and using the D-H parameter method to analyze the kinematics of the catheter,three kinds of vascular interventional robot system master-slave control method are designed.By analyzing its control characteristics and combining with the hardware environment,determines the master-slave control method in this paper.(3)The vascular interventional robot delivery device is designed to achieve the operation of the automatic feeding process and reduce the dependence on physician intubation techniques,which includes the mechanical structure,drive hardware and control systems.(4)In order to meet the force feedback demand of the vascular interventional robot system,the advantages and disadvantages of the existing methods are analyzed and compared for the design of the function of vessel interventional robot system catheter force feedback.During the procedure of the vascular intervention,the force state of the X,Y,Z three directions at the end of the catheter can be displayed in real time,and operator can get the clear tactile feedback.(5)For the requirements of positioning accuracy in the catheter before doing the vascular intervention surgery,the variable universe fuzzy PID controller based on vascular interventional robot is designed by analyzing and comparing of related algorithms.Comparing with the simulation results to verify that whether the design of variable universe fuzzy PID controller can achieve fast and accurate tracking of the catheter position.(6)Test the action of the vascular interventional robotic system by constructing the prototype and test platform of vascular interventional robot system platform,which will verify that whether the design of the vascular interventional robot system can achieve the catheter action of the axial feeding less than 1mm,the circumferential rotation angle error is less than 2 degrees;through the test of the feedback function of the catheter,it will verify that whether the catheter force feedback module can work well and correctly feedback the different delivery status in the process of feeding catheter.