微创血管介入手术机器人的力反馈与导丝定位精度分析  

Force feedback and guidewire positioning accuracy analysis of minimally invasive vascular interventional surgery robot

作　　者：王洪波[1,2] 关博 闫勇敢 王晔 王旭升 WANG Hongbo;GUAN Bo;YAN Yonggan;WANG Ye;WANG Xusheng(Parallel Robot and Mechatronic System Laboratory of Hebei Province, Yanshan University, Qinhuangdao, Hebei 066004, China;Engineering and Applied Technology Research Institute, Fudan University, Shanghai 200433, China;Faculty of Electronic Information and Electrical Engineering, Dalian University of Technology, Dalian, Liaoning 116000, China)

机构地区：[1]燕山大学并联机器人与机电系统实验室,河北秦皇岛066004 [2]复旦大学工程与应用技术研究院,上海200433 [3]大连理工大学电子信息与电气工程学部,辽宁大连116000

出　　处：《中国科技论文》2020年第11期1260-1269,共10页China Sciencepaper

基　　金：国家重点研发计划项目(2019YFB1311700);NSFC-深圳机器人基础研究中心项目(U1713219);河北省研究生创新资助项目(CXZZSS2019039);上海市科技创新行动计划项目(18441900700)。

摘　　要：为解决现有微创血管介入手术机器人导丝定位精度低与力信息获取难的问题,提出了一种具有可以快速消毒、能获取导丝末端阻力、导丝定位精度高等优点的新型导丝递送机构。首先针对介入手术的实际需求,设计了一款血管介入手术机器人递送机构原型;然后进行了机器人系统的动力学模型简化与计算;最后设计了一种新型模糊滑模控制器,并在导丝递送位置性能测试实验平台上输入多种典型信号,对系统的导丝递送位置精度进行试验研究。试验结果表明,输入不同的正弦信号,所给出的控制器可以大幅度提高系统的导丝递送位置控制性能,对于提高微创血管介入手术机器人的安全保障机制提供了重要的参考和试验基础。In order to solve the problems of low positioning accuracy of guide wire and difficulty in obtaining force information of existing minimally invasive vascular intervention surgery robots,a new type of guide wire delivery mechanism with the advantages of rapid disinfection,obtaining end resistance of guide wire and high positioning accuracy of guide wire was proposed.Firstly,according to the actual needs of interventional surgery,a prototype of delivery mechanism of vascular interventional surgery robot was designed;Secondly,the dynamic model of robot system was simplified and calculated;Finally,a new type of fuzzy sliding mode controller was designed,and a variety of typical signals were input on the experimental platform to test the position accuracy of the system.The experimental results show that the controller can greatly improve the performance of wire delivery position control of the system by inputting different sinusoidal signals,which provides an important reference and experimental basis for improving the safety mechanism of minimally invasive vascular intervention surgery robot.

关 键 词：血管介入手术机器人 导丝递送机构 位置控制系统 自适应滑模控制器 模糊控制器 

分 类 号：TH778[机械工程—仪器科学与技术]