A Novel Bilateral Control Strategy for Master-slave Vascular Interventional Robots

摘要

Minimally invasive vascular interventions are commonly used in the treatment of cardiovascular diseases. In this paper, we have made some improvements on the basis of the original master-slave vascular intervention robot in the laboratory, we proposed a bilateral control strategy. We designed the impedance controller for the master robot and the sliding mode controller for the slave robot respectively that can improve effects of the position tracking and force feedback of the master-slave robot. The controller we designed was simulated on Matlab. Simulations results verify the effectiveness of the proposed scheme for vascular intervention surgery when there is a fixed time delay. We also conducted experiments on the position tracking and force feedback for the master-slave vascular interventional robot. The experimental results show that the maximum error of position tracking is less than 1.5 mm and the maximum error of force feedback is 17 mN. Therefore, the bilateral control strategy proposed by this paper can improve transparency of the system and ensure the safety of interventional surgery.