一种具有力检测机制的新型血管介入手术机器人

doi:10.3785/j.issn.1006-754X.2023.00.016

工程设计学报

2023, Vol. 30

Issue (1): 20-31 DOI: 10.3785/j.issn.1006-754X.2023.00.016

创新设计

一种具有力检测机制的新型血管介入手术机器人

陈翼楠(

),蒲志新(

),郑珍妮

辽宁工程技术大学机械工程学院，辽宁阜新 123000

A novel vascular interventional surgery robot with force detection mechanism

Yi-nan CHEN(

),Zhi-xin PU(

),Zhen-ni ZHENG

College of Mechanical Engineering, Liaoning Technical University, Fuxin 123000, China

全文: PDF(6561 KB) HTML

摘要：

为了在机器人辅助远程介入手术中实现向医生提供高精度的力反馈，设计了一种具有力检测机制的新型血管介入手术机器人，其是一个主从控制系统，包括一个操作方便的主端装置和一个递送导丝/导管的从端装置。首先，设计了血管介入手术机器人的力检测机制，以实现轴向近端力的精准测量和径向夹紧力的感知。然后，基于血管介入手术机器人的动力学分析，设计了具有在线整定参数功能的模糊PID（proportional integral derivative，比例积分微分）控制器，以提高从端装置的递送精度和抗干扰能力，同时选择阶跃信号对所设计的模糊PID控制器进行仿真验证。最后，搭建血管介入手术机器人物理样机，并开展主从运动跟踪实验和轴向近端力、径向夹紧力检测评估实验。实验结果表明，该血管介入手术机器人具有[-0.31, 0.25] mm的运动跟踪误差，可检测平均误差为0.12 N的轴向近端力以及可感知0.47~4 N的径向夹紧力。研究结果验证了所设计血管介入手术机器人的鲁棒性以及其力检测机制的可行性，可为同类产品的设计和改进提供参考依据。

关键词： 血管介入手术机器人; 模糊PID控制器; 运动跟踪; 力检测

Abstract:

In order to provide high-precision force feedback to doctors in robot-assisted remote interventional surgery, a novel vascular interventional surgery robot with force detection mechanism is designed. It is a master-slave control system, including a convenient master device and a slave device for delivering guide wire/catheter. Firstly, the force detection mechanism of the vascular interventional surgery robot was designed to realize the accurate measurement of axial proximal force and the perception of radial clamping force. Then, based on the dynamics analysis of the vascular interventional surgery robot, a fuzzy PID (proportional integral derivative) controller with online parameter setting function was designed to improve the delivery accuracy and anti-interference ability of the slave device. At the same time, the step signal was selected to verify the fuzzy PID controller. Finally, the physical prototype of vascular interventional surgery robot was built, and the master-slave motion tracking experiment and the detection and evaluation experiment of axial proximal force and radial clamping force were carried out. The experimental results showed that the vascular interventional surgery robot had a motion tracking error of [?0.31, 0.25] mm, could detect the axial proximal force with an average error of 0.12 N, and could sense the radial clamping force of 0.47-4 N. The research results verified the robustness of the designed vascular interventional surgery robot and the feasibility of its force detection mechanism, which can provide a reference for the design and improvement of similar products.

Key words: vascular interventional surgery robot fuzzy PID controller motion tracking force detection

收稿日期: 2022-05-04 出版日期: 2023-03-06

CLC:

TP 242.3

通讯作者: 蒲志新 E-mail: 986395488@qq.com;puzhixin@126.com

作者简介: 陈翼楠（1997—），男，辽宁锦州人，硕士生，从事机器人控制研究，E-mail: 986395488@qq.com，https://orcid.org/0000-0001-7920-461X

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引用本文:

陈翼楠,蒲志新,郑珍妮. 一种具有力检测机制的新型血管介入手术机器人[J]. 工程设计学报, 2023, 30(1): 20-31.

Yi-nan CHEN,Zhi-xin PU,Zhen-ni ZHENG. A novel vascular interventional surgery robot with force detection mechanism[J]. Chinese Journal of Engineering Design, 2023, 30(1): 20-31.

链接本文:

https://www.zjujournals.com/gcsjxb/CN/10.3785/j.issn.1006-754X.2023.00.016 或 https://www.zjujournals.com/gcsjxb/CN/Y2023/V30/I1/20

图1 血管介入手术机器人系统原理

图2 主端装置结构示意

图3 从端装置结构示意

图4 夹持装置结构示意

图5 轴向近端力检测原理

图6 轴向近端力检测流程

图7 径向夹紧力检测原理

图8 径向夹紧力检测流程

图9 从端装置轴向平移的动力学模型

参数	数值
$J 丝$ / $(k g ? m 2)$	0.92×10^-6
$J 移$ / $(k g ? m 2)$	1.1×10^-6
p/mm	$6$
$m s$ /kg	0.808
$η 1$	0.9
$B 移$	0.245×10^-6
$μ v$	0.2
$μ c$	0.1

表1 从端装置轴向平移的动力学参数

图10 从端装置径向旋转的动力学模型

参数	数值
$J 转$ /( $k g ? m 2$ )	0.92×10^-6
$J 1$ /( $k g ? m 2$ )	0.217×10^-6
$J 2$ /( $k g ? m 2$ )	0.451×10^-6
$J 3$ /( $k g ? m 2$ )	0.819×10^-6
$J 滑$ /( $k g ? m 2$ )	1.096×10^-6
$J 夹$ /( $k g ? m 2$ )	4.047×10^-5
$B 转$	0.245×10^-6
$i 1$	0.8
$i 2$	0.893

表2 从端装置径向旋转的动力学参数

图11 常规PID控制器框图

图12 模糊PID控制器框图

图13 模糊控制结构框图

表3 输出变量ΔKP 、ΔKI 和ΔKD 的模糊控制规则

图14 输出变量∆KP、∆KI和∆KD的模糊控制面

图15 MATLAB/Simulink环境下的模糊PID控制器

图16 不同控制方式下阶跃信号的响应曲线

图17 主从运动跟踪实验装置

图18 主从运动跟踪实验结果

图19 轴向近端力检测评估实验装置

图20 静态标定实验结果

图21 动态标定实验结果

图22 径向夹紧力检测评估实验装置

图23 径向夹紧力检测评估实验结果

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