Master-slave minimally invasive surgical robot system and control method

Abstract

The invention discloses a master-slave minimally invasive surgical robot system and a control method, and relates to the field of robot control. The method includes allowing a user to set a catheter moving position expected value of a master manipulator of the master-slave minimally invasive surgical robot system; allowing a gesture sensor to measure catheter actual movement joint amount, and utilizing a variable universe fuzzy PID control method to adjust the position of the catheter; allowing an imaging device to receive detected image information and imaging; determining whether an expected position is achieved according to images displayed by the imaging device. According to the method, position tracking performance and robustness are enhanced on the basis of conventional PID control, dilation factors are selected based on error grading, the contradiction between fuzzy PID control accuracy and control rule number is solved, once dilation factor calculation during each sampling period is avoided, time is saved, requirements of hardware are reduced, safety of a minimally invasive surgery is guaranteed, and effectiveness and practicality of the master-slave minimally invasive surgical robot system during a minimally invasive surgery are improved.

Description

technical field [0001] The invention relates to the field of robot control, in particular to a master-slave minimally invasive surgical robot system and a control method. Background technique [0002] With the development of science and technology, the application of minimally invasive surgery in cardiovascular and cerebrovascular diseases is becoming more and more extensive. In traditional vascular interventional minimally invasive surgery, the catheter is inserted into the femoral artery and moved in the blood vessel to the target point. Through the capsule or stent, the functions of thrombolysis in the cardiovascular and cerebrovascular, blood vessel expansion and blockage of malformed blood vessels are realized. Because the interventional wound is minimal, the degree of injury is far less than that of traditional surgery, which reduces the pain of patients and speeds up postoperative recovery. However, there are also many disadvantages: catheter intervention is complete...

AI Technical Summary

Problems solved by technology

However, there are also many disadvantages: catheter intervention is completely dependent on the professionalism and proficiency of doctors; doctors cannot accurately estimate the friction force between the end of the catheter and the vessel wall, and excessive force will cause blood vessel perforation and massive bleeding; the operation time is long, Moreover, the doctor has to be exposed to radiation to endure the strong radiation of the instrument, which will cause harm to the doctor's body

However, the accuracy of the control system is often ensured by increasing the number of language variables and control rules. It is neither realistic nor convenient to apply in minimally invasive surgery to formulate enough control rules. As the control process progresses, the error gradually decreases. Move to the zero position of the membership function, at this time, the use of the original error membership function results in insufficient precision

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