| Cardiovascular and cerebrovascular diseases are killer that endangers human health.The method for the treatment of cerebrovascular diseases is remote surgery.However,it will generate time delay on the data.The generation of time delay will also cause problems such as instability of the control system and increase errors when the data transmission distance becomes longer.It analyzes the question for this dissertation.Firstly,this dissertation designs the communication interface for serial port collection and network port transmission based on C# and WPF(Windows Presentation Foundation).It completes the design of the communication to realize the transmission data for master-slave side.Secondly,the time delay caused by the existing remote control system for vascular interventional surgery,which causes the control system to be unstable and increase the error.This dissertation designs a experimental platform based on the local area network.It completes the design of the Fuzzy PID-Improved Smith controller.It has completed the compensation of the double time lag caused by network transmission and the system itself by the part of the Smith’s algorithm.The effect of time delay on the performance for the control system abates the performance of the control system.It can adaptively adjust PID parameters by the Fuzzy PID algorithm.It reduces the impact of non-linearity and motor’s compensation model of pure delay mismatch in the remote control system.It gets the speed of the system better and enter a steady state faster.Finally,the experiment of the axial and rotation tracking effects of the catheter for the remote interventional surgical system are completed by the fuzzy PID-improved Smith algorithm based on the campus LAN and used of TCP/IP communication.The average time delay of the master-slave axial tracking is reduced by 50 ms,the maximum axial tracking error is reduced by 0.3mm,the minimum axial tracking error is reduced by 0.18 mm,the average axial tracking error is reduced by0.29 mm,and the variance is 0.015.The average time delay of radial rotation tracking is reduced by 47 ms,the maximum error of radial rotation is reduced by 0.3°,the minimum error of radial rotation is reduced by 0.3°,the average error of radial rotation is reduced by 0.41°,and the variance is 0.188.Through the analysis of the experimental results,the axial and radial position tracking effects is great.Real-time and accuracy are great significance to that whether doctors can safely complete remote operation of vascular interventional surgical robots.It is a standard for evaluating whether vascular interventional surgcal robots can complete the operation.An experimental platform is designed by TCP/IP protocol and the local area network.After algorithm processing,the performance of the remote vascular intervention surgery robot is improved. |
