Design of A Novel Virtual Sensor for the Vascular Interventional Robotic System

摘要

In order to solve existed problems in the force measurement part of vascular interventional surgical robots. In this paper, A new concept was proposed to obtain more accurate force information and solve the problems of traditional sensors in vascular interventional surgery. This sensorless measurement is based on kinematic equations in robotics. First of all, the virtual sensor mentioned in this paper firstly collects the pictures of the catheter in the blood vessel, extracts the deformation variables, then establishes the catheter kinematics model, and imports the extracted deformation variables into the catheter kinematics model. The final output force value. Finally, experimental results showed that force measurement in this way can avoid the problem of sterilization caused by the sensor entering the blood vessel and the problem of insufficient accuracy caused by indirect measurement.