Study On Design And Control System Of Cooperative Manipulator For Catheter And Guidewire Of Vascular Interventional Surgical Robot

Vascular interventional robotic system can help doctors perform vascular interventional surgery in a more efficient and safer way,and it can also protect doctors from X-ray damage.In the current research on vascular interventional robotic system,there are still problems of lack of the ability of the catheter guide wire to operate cooperatively and the lack of a master manipulator with tactile feedback that conforms to the doctor’s operating habits.Therefore,from the perspective of doctor’s operation and operation safety,this paper proposed a novel vascular interventional robotic system capable of cooperative operation of catheter and guidewire.First,the structure of the master and slave manipulators in the novel vascular interventional robotic system is designed.The designed master manipulator conforms to the operating habits of doctors,and has the function of providing tactile feedback to the operator.The designed slave manipulator has good flexibility,can simulate the hands of a doctor to complete the cooperative operation of the catheter and the guide wire,and at the same time can detect the axial resistance of the catheter and the guide wire in real time during the manipulator process.These two forces are used as input for the tactile force feedback of the master manipulator.Secondly,in order to verify that the designed master manipulator and slave manipulator meet the requirements of vascular interventional surgery,the characteristics of the two are evaluated.In order to lay the foundation for the control system design,a feedback force calibration experiment was performed on the tactile feedback device of the master manipulator to verify the relationship between the feedback force and voltage.In order to verify the feasibility of the slave manipulator,three evaluation experiments were performed,including graspers performance evaluation experiment,motion evaluation experiment and collision force detection evaluation experiment.In addition,in order to run the vascular interventional robotic system,the control system is designed in this paper.Due to the complex system integration and the drive of many motors and sensors,a controller that meets the requirements was selected,and a suitable master-slave tracking control strategy and force feedback control strategy were designed to make the entire system have good stability and accuracy.Finally,in order to verify the feasibility of the proposed vascular interventional robotic system,this paper evaluates the entire system from two aspects: master-slave motion tracking performance and force feedback performance.The experimental results show that the designed master-slave motion tracking of the vascular interventional surgery robot system operating the master-slave motion tracking has an average axial error of 0.45 mm,an axial maximum error of 0.9mm,a radial average error of 1.39°,and a radial maximum error of 2.2°.The average error of the axial movement of the guide wire is 0.58 mm,the maximum axial error is 1.1mm,the average radial error is 1.71°,and the maximum radial error is 2.4°.The maximum error of the catheter force feedback is 29 m N,and the maximum error of the guidewire force feedback is 25 mN.