Fuzzy fusion method for force feedback of vascular intervention surgical robot

A robot system and interventional surgery technology, applied in the field of medical devices, can solve the problems of high risk and time-consuming surgery, and achieve the effect of actual relationship

Inactive Publication Date: 2013-04-03
BEIHANG UNIV
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  • Abstract
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  • Claims
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Problems solved by technology

[0004] In order to solve the problems existing in the prior art, the present invention provides a method for reconfiguring the force feedback loop in the robot system for vascular intervention...

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  • Fuzzy fusion method for force feedback of vascular intervention surgical robot
  • Fuzzy fusion method for force feedback of vascular intervention surgical robot
  • Fuzzy fusion method for force feedback of vascular intervention surgical robot

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Embodiment Construction

[0056] The present invention will be described in detail below in conjunction with the accompanying drawings and embodiments.

[0057] The invention provides a fuzzy fusion method for force feedback of a robot system for vascular interventional surgery. In the fuzzy fusion method, an optical fiber pressure sensor is selected to measure the collision force at the front end of the catheter; by coating the side wall of the catheter with conductive rubber The sensor uses the piezoresistive effect of conductive rubber to measure the interaction between the side wall of the catheter and the wall of the blood vessel. The optical fiber pressure sensor converts the pressure signal into an analog voltage signal through the signal processor, and at the same time, the conductive rubber sensor also converts the resistance signal into an analog voltage signal through the bridge circuit, both of which are output at a voltage value of 0-5V. The main-end computer uses multi-thread technology t...

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Abstract

The invention discloses a fuzzy fusion method for force feedback of a vascular intervention surgical robot, belonging to the technical field of medical devices. The fuzzy fusion method comprises the following steps: selecting fuzzy linguistic variables; constructing a membership function and calculating a quantifying factor and a scale factor; establishing an assigned table; drawing up a fusion rule table; and performing the step of fuzzy reasoning. According to the fuzzy fusion method disclosed by the invention, fuzzy control is applied, and the non-linear relationship between the two can be well reflected by applying a logical relation between the fuzzy variables; and the linguistic variables are defined according to the personal understandings of a doctor, the input variables are used for reflecting the collision state, the output is of feedback force, and the actual relation can be reflected by the two more realistically by combining with the existing experience of the doctor.

Description

technical field [0001] The invention belongs to the technical field of medical devices, and in particular relates to a fuzzy fusion method for force feedback of a robot system for vascular interventional surgery. Background technique [0002] In recent years, vascular interventional surgery has been widely used clinically due to its advantages of minimal trauma, low risk, and few complications, and is considered to be one of the most valuable clinical medical specialties. However, disadvantages such as strong skill, complicated operation, long operation time, and unprovoked X-ray damage limit the further development and promotion of vascular interventional surgery, and the organic combination of robotic technology and vascular interventional technology is an important way to solve the above problems. At present, most of the master-slave robot systems used in vascular interventional surgery are divided into two parts: the radiation room and the radiation room. They use the ne...

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Application Information

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IPC IPC(8): A61B19/00A61B34/30
Inventor 刘达宫明波
Owner BEIHANG UNIV
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