Master Control Method of Vascular Interventional Robotic System Based on Adaptive Force Feedback

Abstract

The embodiment of the present invention discloses a method for controlling the master end of a vascular interventional robot system based on adaptive force feedback, wherein the method includes: constructing a motor model; constructing a slide rail model; acquiring a slave end sensor signal, and filtering the slave end sensor signal; Constructing the reference model of the motor, based on the reference model, setting the controller to correct the parameters of the motor model in real time; based on the corrected motor model and the slide rail model, estimating the friction force, and compensating the friction force; based on the processed sensor signal, the torque force received by the restored slave device and the horizontal resistance received by the restored slave device act on the operating rod, and act on the restored operating rod The force is the force feedback. The method can realize precise force feedback, make the vascular interventional robot system have strong anti-interference and robustness, and can largely avoid output fluctuations.

Description

technical field [0001] The invention relates to the field of control, in particular to a main-end control method of a vascular intervention robot system based on adaptive force feedback. Background technique [0002] In recent years, with the advancement of robotics and people's increasing attention to health problems, robotic-assisted interventional therapy has gradually become the focus of attention. The current vascular interventional surgery has a low degree of equipment utilization, and most of them are operated by experienced doctors. The training time required for interventional doctors is also longer, and the operation of interventional surgery relies more on empirical operations. In addition, because human blood vessels are curved and narrow with many branches, and the blood vessel wall is relatively fragile, this puts forward great requirements for the accuracy of the catheter operation during the experiment, and requires the doctor to have a very fine operation. ...

AI Technical Summary

Problems solved by technology

However, the existing vascular interventional robot system cannot judge the current position of the intervention by sensing the current resistance of the catheter, balloon, and guide wire during the operation, as in the traditional surgical process. It is impossible to judge the current state of the operation through the "feel" in real time, but to judge by intraoperative CT by injecting more doses of contrast agent

This will not only prolong the operation time, but also cause secondary damage to the patient.

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