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Minimally invasive vascular interventional surgery catheter robot system control device and method

A robot system and control device technology, applied in adaptive control, general control system, control/regulation system, etc., can solve the problems of inability to balance between dynamic rapidity and control accuracy, large overshoot, poor tracking performance, etc. Radiation hazard, reduced overshoot, good dynamic performance

Inactive Publication Date: 2014-02-05
SHENYANG POLYTECHNIC UNIV
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Problems solved by technology

[0006] Aiming at the deficiencies of the prior art, the present invention proposes a control device and method for a catheter robot system for minimally invasive vascular interventional surgery, in order to overcome the poor tracking performance and large overshoot caused by the PID control method, and solve the problem of dynamic rapidity and control accuracy. Balance the purpose of the problem

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  • Minimally invasive vascular interventional surgery catheter robot system control device and method

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Embodiment Construction

[0042] The embodiments of the present invention will be further described in detail below in conjunction with the accompanying drawings.

[0043] Such as figure 1 As shown, the catheter robot system control device for minimally invasive vascular interventional surgery includes a main hand control device, a first controller, a first motor, a catheter clamping device, a catheter, a second controller, a second motor, and a first photoelectric encoder With the second photoelectric encoder, the first controller includes a first fuzzy controller and a first PID controller, and the second controller includes a second fuzzy controller and a second PID controller; wherein ,

[0044] The main hand control device is used to set the expected axial displacement value of the catheter and the expected rotation angle value of the catheter, and send the expected axial displacement value of the catheter to the first controller, and send the expected rotation angle value of the catheter to the ...

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Abstract

The invention discloses a minimally invasive vascular interventional surgery catheter robot system control device and method, and belongs to the technical field of robot control. The device comprises a main hand control device, a first controller, a first motor, a catheter clamping device, a second controller, a second motor, a first photoelectric encoder and a second photoelectric encoder, wherein the first controller comprises a first fuzzy controller and a first PID controller, and the second controller comprises a second fuzzy controller and a second PID controller. According to the minimally invasive vascular interventional surgery catheter robot system control device and method, tracking performance of a system auxiliary hand for a system main hand is improved, overshoot of the system is reduced, the robustness of the system is ensured, and therefore safety of a minimally invasive vascular interventional surgery catheter robot is further improved in the interventional surgery process. The minimally invasive vascular interventional surgery catheter robot system control device and method have great significance in reducing radiation harm to doctors in the surgery process, improving accuracy of the interventional surgery, and ensuring mental and physical health of patients.

Description

technical field [0001] The invention belongs to the technical field of robot control, and in particular relates to a control device and method for a catheter robot system for minimally invasive vascular interventional surgery. Background technique [0002] With the rapid development of the national economy and the continuous improvement of people's living standards, various diseases are accompanied by each other, and cardiovascular and cerebrovascular diseases have become one of the main diseases that threaten human health. According to statistics from the Ministry of Health, there are more than 200 million cardiovascular patients in my country, and about 3 million people die of cardiovascular diseases every year. [0003] Minimally invasive vascular interventional surgery is an effective method for the treatment of cardiovascular diseases. Minimally invasive vascular interventional surgery is an operation in which a doctor manipulates a catheter along a human blood vessel ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05B13/04G05D3/12
Inventor 赵希梅姜明明游健康任成一赵久威
Owner SHENYANG POLYTECHNIC UNIV
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