A novel vascular interventional surgery robot with force detection mechanism

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

Chin J Eng Design

2023, Vol. 30

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

Innovative Design

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

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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

Received: 04 May 2022 Published: 06 March 2023

CLC:

TP 242.3

Corresponding Authors: Zhi-xin PU E-mail: 986395488@qq.com;puzhixin@126.com

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Cite this article:

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

URL:

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

一种具有力检测机制的新型血管介入手术机器人

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

Fig.1 Principle of vascular interventional surgery robot system

Fig.2 Structure diagram of master device

Fig.3 Structure diagram of slave device

Fig.4 Structure diagram of clamping device

Fig.5 Detection principle of axial proximal force

Fig.6 Detection process of axial proximal force

Fig.7 Detection principle of radial clamping force

Fig.8 Detection process of radial clamping force

Fig.9 Dynamics model of axial translation of slave device

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

Table 1 Dynamics parameters of axial translation of slave device

Fig.10 Dynamics model of radial rotation of slave device

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

Table 2 Dynamics parameters of radial rotation of slave device

Fig.11 Block diagram of conventional PID controller

Fig.12 Block diagram of fuzzy PID controller

Fig.13 Block diagram of fuzzy control structure

Table 3 Fuzzy control rules for output variables ΔK_P, ΔK_I and ΔK_D

Fig.14 Fuzzy control surfaces for output variables ∆K_P, ∆K_Iand ∆K_D

Fig.15 Fuzzy PID controller in MATLAB/Simulink environment

Fig.16 Response curves of step signal under different control modes

Fig.17 Master-slave motion tracking experimental device

Fig.18 Experimental results of master-slave motion tracking

Fig.19 Experimental device for detection and evaluation of axial proximal force

Fig.20 Static calibration experiment results

Fig.21 Dynamic calibration experiment results

Fig.22 Experimental device for detection and evaluation of radial clamping force

Fig.23 Experiment result of radial clamping force detection and evaluation


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