A novel force feedback interventional surgery robotic system

摘要

The interventional therapy combining with modern high technologies, is a kind of minimally invasive treatment. In order to achieve pathological diagnosis and local treatment, catheter and guide wire are delivered to patients' lesions through their blood vessel with the guidance of DSA image. Interventional therapy has advantages of small trauma, rapid recovery. And it has become the developing trend of the future medicine. Presently, the interventional treatment has some shortages. For instance, the patients could not be separated from the surgeons. Also, it is difficult to measure the front collision force of the guide wire. To solve this problem mentioned above, the phantom omni was used as the master controller, and a new novel of interventional operation slave system equipped with force feedback structures was designed. Fuzzy PID looped control was adopted in this system, and the dynamic performance of the surgery robotic system was analysed in this paper.