| Minimally invasive vascular interventional surgery robot,which can cleverly integrate minimally invasive surgery technology and artificial intelligence perfectly,is currently the focus of research and development in medical artificial intelligence.Minimally invasive vascular interventional surgery,with its advantages of small damage,rapid recovery of patients and low postoperative complications,is being regarded as an effective and efficient treatment method to solve vascular diseases,and is increasingly recognized by human society.Due to minimally invasive vascular interventional surgery,doctors must stay in a state of high radiation for a long time,which causes great physical damage to medical staff.Therefore,the vascular interventional surgery robot with master-slave mode appears.However,it also faces problems such as poor master-slave force feedback performance and poor tactile response accuracy,resulting in poor master-slave synchronous tracking performance.In order to solve the above problems,this paper will discuss its technology,this paper proposes a new vascular intervention robot technology with master-slave model.First of all,this paper mainly describes the master-slave force feedback control system of cardiovascular interventional therapy robot and the hardware structure and design of STM32F103C8T6 as the master-slave controller,as well as the software design composed of specific program modules,and points out the realization principle and calibration experiment of the feedback force of the master operator based on electromagnetic induction.Then,in order to improve the master-slave force feedback accuracy and master-slave synchronous tracking characteristics,this paper proposes a fuzzy PID controller based on variable theory domain.In order to prove that the variable theory domain fuzzy PID controller has the advantages of good stability and tracking characteristics,a controller model is built in Simulink.After simulation tests,Compared with fuzzy PID controller and traditional PID controller,it proves its superiority.Finally,in order to investigate the superiority of the new master-slave model-based cardiovascular interventional therapy robot provided in this paper,a test platform is provided for this paper,and the design of this system is evaluated from the two indicators of master-slave force feedback and master-slave synchronous tracking.Under variable domain fuzzy PID control,after pretreatment,the maximum deviation of single-step operation of master-slave axial position tracking is 0.49 mm,the minimum deviation is 0.12 mm,the average deviation is 0.33 mm and the average is0.012 mm,while the maximum deviation of master-slave radial position tracking is2.10°.The minimum deviation is 0.21°.These data show that the variable domain fuzzy PID control can effectively control the motion,and further improve the performance and reliability of the system.The mean deviation is about 1.40° and the maximum deviation is about 0.28°.Compared with fuzzy PID controller,the effect of axial master-slave synchronous tracking is improved by 35%,and the effect of radial master-slave synchronous tracking is 32%. |
