Abstract
In vascular interventional surgery, surgeons operate guidewires and catheters to diagnose and treat patients with the assistance of the digital subtraction angiography (DSA). Therefore, the surgeon will be exposed to X-rays for extended periods. To protect the surgeon, the development of a robot-assisted surgical system is of great significance. The displacement tracking accuracy is the most important issue to be considered in the development of the system. In this study, the active disturbance rejection control (ADRC) method is applied to guarantee displacement tracking accuracy. First, the core contents of the proportional–integral–derivative (PID) and ADRC methods are analyzed. Second, comparative evaluation experiments for incremental PID and ADRC methods are presented. The results show that the ADRC method has better performance of than that of the incremental PID method. Finally, the calibration experiments for the ADRC control method are implemented using the master–slave robotic system. These experiments demonstrate that the maximum tracking error is 0.87 mm using the ADRC method, effectively guaranteeing surgical safety.
Highlights
Cardiovascular and cerebrovascular diseases are characterized by a high disability rate and high mortality, and are considered the leading killers of human health according to the World Health Statistics 2020 reported by the World Health Organization
The surgeons wear lead clothes weighing 20 kg to treat the patients during the clinical operation, the surgeons still suffer from X-ray radiation when performing digital subtraction angiography (DSA)
The active disturbance rejection control (ADRC) method is applied in the VISRS
Summary
Cardiovascular and cerebrovascular diseases are characterized by a high disability rate and high mortality, and are considered the leading killers of human health according to the World Health Statistics 2020 reported by the World Health Organization. Vascular interventional surgery is used clinically to diagnose and treat cardiovascular and cerebrovascular lesions, such as angiography and stent placement. The surgeons wear lead clothes weighing 20 kg to treat the patients during the clinical operation, the surgeons still suffer from X-ray radiation when performing digital subtraction angiography (DSA). Robot-assisted surgery is a promising method to avoid X-ray radiation and its associated complications. Robot-assisted surgery can reduce the surgical failure rate caused by the surgeon’s hand tremor. In robot-assisted surgery, high displacement tracking accuracy is the most important issue in ensuring operating safety
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