Design Of Robotic System And Vascular Feature Extraction Strategy For Liver Cancer Interventional Surgery

Interventional liver cancer surgery is an interventional surgical procedure for intermediate and advanced liver cancer in clinical practice.In order to avoid X-ray radiation,improve surgical precision and safety,this paper designs an interventional liver cancer surgery robot system for the above three key points,which facilitates the operation of doctors and reduces the occurrence of complications for patients.Firstly,according to the specifications of hepatocellular carcinoma interventional surgery,we set up the relevant indexes and requirements of the robot system,optimized the structure design of the master-slave system using the modular design concept,designed a slave mechanism that can flexibly loosen and tighten the guidewire and microcatheter,and a slave mechanism that can flexibly inject drugs and a master mechanism that fits the operation habits of doctors,and realized the real-time collection and transmission of force level information between the master and slave through the interaction form of multiple sensors.Secondly,we propose an improved NPSO algorithm with nonlinear adaptive inertia weights for the signal response of the nonlinear system of the robot,and combine the analysis of three inertia weighting strategies to achieve automatic tuning of the PID controller parameters,which improves the system response speed and enhances the surgical safety at the same time.Once again,we proposed an improved C LAHE method for image preprocessing using a single frame extracted from the sample set for feature extraction of the vessels to be examined in the DSA developed images during surgery,and further realized smooth denoising and vessel segmentation of the images using guided filtering and main branch vessel segmentation method under mult iple strategies,and analyzed the safety strategy of surgery by centerline extraction and stenosis evaluation to optimize the human-machine synergy of surgery.Finally,the experimental platform of liver cancer interventional surgery robot was built,the joint control system and test prototype were constructed,and the experimental tests on the collaborative followability of the guidewire and the feeding accuracy of the microcatheter with the motion of the guidewire were conducted under dynamic and static environments,and the touching force of the front end of the guidewire was also tested and analyzed.In addition,the drug delivery and liquid dispensing performance of the system injection function were tested accordingly,and the comprehensive performance experiments provided experimental support for the surgical robot system.