Study on Robust Control for the Vascular Interventional Surgical Robot

摘要

With the rapid development of surgical robot technology, more and more requirements on control precision were raised upon the surgical robots. For master-slave controlled surgical robot, the error of displacement between master side and slave side affects the safety and success rate of interventional surgery. A robust control algorithm is proposed to reduce the displacement error between master side and slave side. In this paper, the system identification technology is used to establish the mathematical model of the interventional robot system, which is expressed in simulink, and a robust controller is used to optimize its performance and improve its system stability. Stability analysis was carried out by using Lyapunov function method and experimental method, and the experimental results showed that the system with robust control algorithm has better performance.