Abstract
In a vascular interventional surgery robot system, accurately pushing the guidewire into the patient-specific branch vessel is the core step of the entire operation, so it has become the focus of the master-slave co-control of the guidewire propulsion and manipulation mechanism. Some vascular interventional surgery robots have been used for delivery of the guidewire; however, problems such as the inability to reliably clamp the guidewire and the lack of accurate force feedback prevent doctors from using robots for accurate delivery. In addition, failure to disinfect surgical robots quickly and completely increases the risk of surgery. This article introduces a new type of master-slave vascular interventional robot with reliable clamping of the catheter/guidewire, accurate perception of the lead-in force of the guidewire for precise delivery and fast disinfection. In response to the problem of the nonlinear and uncertain disturbance of the catheter/guidewire resistance affecting the delivery mechanism, an adaptive sliding controller based on master-slave tracking is designed. Through experiments and analysis of the fuzzy sliding mode controller (FSMC) experimental platform, the results show that a vascular interventional robot control system with good tracking performance and strong robustness has been designed.
Highlights
Vascular interventional surgery refers to a doctor's guided manipulation of catheters/guidewires in the blood vessels of the human body under a digital angiography machine for treatment of lesions, manipulation of embolisms of blood vessels, dissolution of blood clots, dilation of narrow blood vessels and other purposes
The analysis shows that when force feedback exists, the slave-hand-end resistance detection mechanism can stably detect the tip force of the guidewire; at the same time, the amplified feedback force is processed by the control system and transmitted to the magnetic powder clutch at the master hand, establishing a stable force, which can effectively assist the doctor in the operation
Technology, CN), whereas in actual surgery, professional doctors will use high hardness materials such as aluminium alloy, we suppose that the designed vascular interventional surgery robot can assist doctors in accurately delivering the guidewire and that under the protection of the robot force feedback mechanism, it can prevent the tip of the guidewire from piercing the blood vessel wall
Summary
Vascular interventional surgery refers to a doctor's guided manipulation of catheters/guidewires in the blood vessels of the human body under a digital angiography machine for treatment of lesions, manipulation of embolisms of blood vessels, dissolution of blood clots, dilation of narrow blood vessels and other purposes. Professor Wang Hongbo of Yanshan University developed a vascular interventional surgery robot catheter/guidewire propulsion mechanism and positioning robotic arm; this propulsion mechanism imitates the hand-propelled and rotation operations [1]–[3]. Harbin University of Technology has developed a force feedback master for master-to-slave operation, which adopts a string-based mixed structure and has 7 motional degrees of freedom, 3D force feedback functions, and a 100 mm x 100 mm x 100 mm working space. The "Magic Hand" robot master developed by Tianjin University is an improvement based on PHANTOM, has 7 degrees of freedom, and provides a feedback force of up to 12 N in 3 directions of movement via the installed motor.
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