This invention discloses an independent drive and collaborative control method for a double-layer medical
catheter, comprising the following steps: drive
system configuration;
sensing data acquisition; collaborative control model construction; drive command generation; drive execution and dynamic adjustment; and safety protection. This invention achieves high-precision independent drive of the two
layers of catheters by configuring independent drive units and multi-dimensional sensing modules for the double-layer
catheter. Combined with Kalman filtering and PID control algorithms, the positioning error of the inner
catheter is controlled within 0.1mm, and the posture adjustment accuracy of the outer catheter is improved by 40%, significantly outperforming existing technologies. Through variable-parameter PID control and operation intention prediction adjustment, the drive
response time is shortened to within 50ms, eliminating the
lag defects of traditional control and achieving instant matching between the doctor's operation intention and catheter movement, improving the smoothness of surgical operations. The dynamic collaborative control model built based on
reinforcement learning can adaptively adjust the collaborative relationship according to
vascular anatomy,
lesion location, and real-time load data.