A Vascular Interventional Surgical Robotic System Based on Force-Visual Feedback

摘要

In this paper, based on the previous research of our research team. We proposed a Vascular Interventional Surgical Robotic System based on Force-Visual feedback. In the process of vascular interventional surgery, it is very important to accurately detect the resistance force of surgical catheter, which can improve the safety of operation. Therefore, we developed a force sensor for the vascular interventional surgery robotic system based on the principle of resistance strain gauge bridge circuit. In addition, a complete robotic system with only force feedback is not enough. Therefore, it is necessary to combine the visual feedback interface to complete the operation. Finally, some verification experiments have been completed, including the evaluation experiment of the internal fixture of the force sensor, the calibration experiment of the force sensor, the evaluation experiment of the force sensor, the evaluation experiment of the force feedback, The axial and radial synchronous motion experiment between the master and slave side. Experimental results showed that the feasibility of the force sensor. Vascular Interventional Surgical Robotic System based on Force-Visual feedback has good performance of the force feedback and the synchronous motion between the master and slave side. There is a certain error in the synchronous motion between the master and slave side and the force feedback of the vascular interventional surgery robotic system based on Force-Visual feedback, the error is within the allowable range.