The evaluation of a novel force feedback interventional surgery robotic system

摘要

The interventional therapy is a kind of minimally invasive treatment. Under the guidance of medical imaging equipment, surgeons take the special catheter, guide wire and other precision instruments import in the body to do the pathological diagnosis and local treatment. The characters of interventional therapy are no operation, small trauma, rapid recovery, etc. However, the interventional treatment has some shortage such as hard to measure the front collision force of the guide wire, and the harm of the X-rays to surgeon. Above those shortages, this paper use the phantom desktop as the master controller, and design a new novel of interventional operation slave system which has force feedback structures. Besides according to the master-slave motion results, the paper has done the system identification. Then the system uses MRAC fuzzy PID looped control. Finally, this paper analyses the dynamic performance of the surgery robot system and makes a comparison between the simulation and the real results.