Study On Position/Force Hybrid Control System Of The Vascular Interventional Surgery Robot

Interventional surgery as a cardiovascular and cerebrovascular disease detection and treatment program is being increasingly used in clinical treatment.The patient does not require open surgical,only needs an anesthetic incision on arms or legs.The doctor can use the catheter and guide-wire to pass through the patient's blood vessel and enter the lesion site for examination or treatment.Because of the small wound size and rapid recovery,the patient has fewer complications after interventional surgery,and the survival rate is greatly improved.In order to reduce the impact of radiation on doctors during interventional treatment and improve the stability of the operation,the development of interventional surgical robots has gradually attracted attention.Master-slave operation interventional robot not only can keep the doctor away from radiation-filled operation room,but also does not appear fatigue and jitter during the operation,strengthens the reliability of the operation.Based on this point of view,this paper proposes a new catheter guide-wire cooperating interventional surgical robot system,and proposes a control method combining force and position control.This article first introduced the research background of interventional robots,including the introduction of commercialized products in the field of interventional robots and research projects conducted by universities,indicating the necessity of research in this field.At the same time,some preliminary research results in this field in the laboratory are introduced,and the advantages and disadvantages of related results are analyzed.On the basis of previous research,the research points of the new interventional robots are proposed.Based on the improvement point of the proposed new-generation surgical robot,the related robot system was built,the parameters of the robot structure and equipment were introduced in detail,and the construction ideas were elaborated.After the master-slave robot platform was set up,corresponding control strategies were designed.The control strategy was designed from two aspects: motion control and force control.Experiments using human models verified the feasibility of the designed control strategy.For the practical application of control requirements,the combination of motion control and force control was designed and a force/position hybrid control method was designed to improve the safety during master-slave operation.On the basis of the completion of the control strategy,the human-computer interaction system with force feedback and visual feedback was designed through software programming to make up for the lack of tactile and visual feedback brought by the doctor in remote operation.At the same time,the corresponding master-slave warning system was designed to improve the stability of the master-slave operation.At the end of this article,animal experiments and clinical trials using surgical robots are introduced.It is shown that the robot can steadily assist the doctor in the interventional operation,and it proves that the surgical robot has reached the initial design goal.