血管介入微创手术机器人系统控制研究

The Research on the Control of the Minimally Invasive Surgery Robot for Vascular Intervention

医生在进行血管介入手术过程中需要实时的X射线图像引导,而长时间的射线辐射会严重危害医生的健康.为了减小介入医生在手术过程中受到的辐射伤害,该文研究了一款基于双主手控制的血管介入微创手术机器人系统,并对其整体框架和控制方法进行研究.医生可通过上位机界面交互,进行主从遥操作,驱动从端机构完成介入手术操作.最后进行了血管模型试验,验证了该文的介入手术机器人具备多器械协同递送的功能.

Real-time X-ray image guidance is necessary for the process of vascular interventional surgery,but long-term radiation exposure becomes a severe issue threatening surgeon′s health.In order to reduce the radiation injury,a minimally invasive surgery robot system based on double-master-hand control is introduced,and its overall framework and control method are mainly studied.Surgeon operates the interactive interface of the upper computer,and drive the actuator to complete the interventional operation through master-slave remote control.Finally,a model experiment is carried out to prove that the robot has the function of multi-instrument collaborative delivery.