基于磁流变液力/触觉反馈的遥操作血管介入手术机器人系统稳定性和透明性研究

以提高医师的手术临场感和手术安全性为目标，对血管介入手术机器人系统主从控制的稳定性和透明性进行研究。本项目拟用传统手术导管/导丝作为主端操作媒介实现对从端手术机器人导管/导丝的协同控制，将磁流变液技术应用于主端操作器的开发来模拟再现手术导管/导丝在管脉系统中的阻力情况，根据从端手术机器人驱动电机的电流损耗来建立“电流-速度-阻力”三者关系模型，实现从端导管/导丝递送阻力的实时获取，进而设计实现符合人体工学且可充分利用传统手术操作技巧的血管介入手术机器人系统。针对主端操作者操作速度与传感器采样频率的不匹配，以及主从通信数据丢包的问题，建立主端操作器和从端手术机器人的数学模型，设计输入整形级联控制算法实现主从导管/导丝的速度和位移稳定跟随。设计基于力觉提醒的触觉共享控制策略，来提升操作者的手术临场感，同时为操作者提供操作安全预警。研究成果为血管介入手术机器人领域的研究提供理论基础与技术支撑。

To improve the doctor's surgical presence and surgical safety, the stability and transparency of the master-slave endovascular robotic system are studied. This project intends to use the traditional surgical catheter/guidewire as the master operation tool to realize the collaborative control of the slave surgical robot. The Magnetorheological fluid technology will be utilized to develop the master manipulator that simulate resistance force of catheter/guidewire navigation in vascular. The resistance of the catheter/guidewire in the vascular system is calculated by the current loss of the driving motor of the slave. We will use a "current-speed-resistance" three-part relationship model to achieve real-time acquisition of resistance from the catheter/guidewire navigation. An ergonomic robotic system for vascular intervention surgery that can make full use of traditional surgical operation skills. Aiming at the mismatch between the operation speed of the master operator and the sampling frequency of the sensor and the packet loss of the master-slave communication data, the mathematical model of the master operator and the slave surgical robot is established. On this basis, a cascade control algorithm is designed to achieve the speed and position control of the master-slave. Design a tactile sharing control strategy based on force sensation to improve the operator's sense of surgical presence, and provide the operator with safe operation warning. The research will provide theoretical basis and technical support for the field of the master-slave endovascular robotic system design.