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Three-dimensional fuzzy control device and method of minimally invasive vascular interventional surgery catheter robot

A technology of interventional surgery and fuzzy control, applied in surgery, medical science, diagnosis, etc., can solve problems such as poor performance

Inactive Publication Date: 2014-02-05
SHENYANG POLYTECHNIC UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

However, the performance of 2D fuzzy control in eliminating the steady-state error of the system is poor

Method used

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  • Three-dimensional fuzzy control device and method of minimally invasive vascular interventional surgery catheter robot
  • Three-dimensional fuzzy control device and method of minimally invasive vascular interventional surgery catheter robot
  • Three-dimensional fuzzy control device and method of minimally invasive vascular interventional surgery catheter robot

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Embodiment Construction

[0052] The implementation of the present invention will be further described in detail below in conjunction with the accompanying drawings.

[0053] Such as figure 1 As shown, a three-dimensional fuzzy control device for a catheter robot for minimally invasive vascular interventional surgery includes a main hand device, a host computer, a slave DSP processor, a first motor, a second motor, a third motor and an attitude sensor, wherein the main hand The device is used to set the target position of the catheter end and send the target position to the host computer; when the host computer receives the initial position signal of the catheter end, it is used to calculate and obtain the target position coordinates and the initial position coordinates of the catheter end The deviation between the two; the deviation and the initial attitude information are sent to the slave DSP processor; when the real-time collected catheter end position signal is received, it is used to calculate th...

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Abstract

The invention provides a three-dimensional fuzzy control device and method of a minimally invasive vascular interventional surgery catheter robot and belongs to the field of minimally invasive vascular interventional surgery robot control. The three-dimensional fuzzy control device comprises a master manipulator device, an upper computer, a secondary terminal DSP (Digital Signal Processor), a first motor, a second motor, a third motor and an attitude sensor. According to the three-dimensional fuzzy control device and method of the minimally invasive vascular interventional surgery catheter robot, the defects of a PID (Proportion Integration Differentiation) control method and a two-dimensional fuzzy control method when a catheter operation robot is controlled are overcome, the control accuracy of the catheter operation robot is improved, and accordingly the operation accuracy on a catheter can be improved, the effect on the catheter movement of environmental factors such as the breathing and the heartbeat of a patient can be reduced, the overshoot caused by catheter operation of an operator can be reduced, and accordingly the surgery can be accurate and safe.

Description

technical field [0001] The invention belongs to the field of robot control for minimally invasive vascular interventional surgery, in particular to a three-dimensional fuzzy control device and method for a catheter robot for minimally invasive vascular interventional surgery. Background technique [0002] Vascular interventional surgery has the advantages of small wounds, less bleeding, quick postoperative recovery and fewer complications, and is widely used in the treatment of cardiovascular and cerebrovascular diseases. In traditional vascular interventional surgery, the operator directly operates the catheter, and with the assistance of medical images, sends the catheter to the lesion through the blood vessel for diagnosis and treatment. However, the catheter operation requires experienced operators to obtain good results through repeated attempts. In this way, the operator and the patient are exposed to radiation for a long time, and long-term work will cause certain dam...

Claims

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Application Information

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IPC IPC(8): A61B19/00
Inventor 赵希梅游健康任成一姜明明赵久威
Owner SHENYANG POLYTECHNIC UNIV
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