Cable-driven interventional operation robot with Stribeck friction feedforward compensation

The interventional surgery is a type of minimally invasive operation which can reduce hospitalization time and greatly decrease patient morbidity compared to traditional methods. In previous work, the interventional operation robot was developed to send catheter or guidewire. The master side was a Phantom device and the PID control was used through upper machine. To further improve the precision and synchronization performance, a cable-driven slave side of interventional operation robot was developed. Friction model was built and friction feedforward algorithm was added to closed-loop control of the robot in this paper. Compared to the traditional motion control algorithm, the new method had advantages on dynamic performance.