主从式血管介入系统的力反馈实现

Achieving of force feedback in master-slave vascular intervention systems

为保证主从式血管介入系统的手术安全性,在其主端集成了力反馈装置。研制了侧壁力传感器,结合光纤传感器共同进行了力的测量;主端计算机读取两路测量信号,将最终融合力值施加到主端设备,形成力觉反馈回路。当导管与血管碰撞时,电机会产生相应转矩,医生通过感知反馈力判断导管状态,实现力觉引导。经实验验证,主从控制精度高、延迟小,传感器测量一致性好,主端力反馈实时有效,可望能实现引导医生进行手术作业。

To ensure the operation safety of a master-slave vascular intervention system, forces feedback devices were integrated in to the master of the system. A sidewall force sensor was developed, and combined with fiber optic sen- sors, it was used to measure force. With the computer, two measurement signals were read, and the final value of fused force was applied to the master, thus a force feedback loop was built. When the catheter collided with a vascular, a corresponding torque was generated via the motor. By the feedback force, Doctors can determin the condition of catheter tip in order to realize haptic guidance. The experiments proved that the master-slave control precision was high, besides, the sensors had the good consistency in measurement, and the real-time and effective force feedback was achieved. It is expected to be used to guide doctors to conduct the surgery.