Research on a Novel Vascular Interventional Surgery Robot and Control Method Based on Precise Delivery

In a vascular interventional surgery robot system, accurately pushing the guidewire into the patient-specific branch vessel is the core step of the entire operation, so it has become the focus of the master-slave co-control of the guidewire propulsion and manipulation mechanism. Some vascular interventional surgery robots have been used for delivery of the guidewire; however, problems such as the inability to reliably clamp the guidewire and the lack of accurate force feedback prevent doctors from using robots for accurate delivery. In addition, failure to disinfect surgical robots quickly and completely increases the risk of surgery. This article introduces a new type of master-slave vascular interventional robot with reliable clamping of the catheter/guidewire, accurate perception of the lead-in force of the guidewire for precise delivery and fast disinfection. In response to the problem of the nonlinear and uncertain disturbance of the catheter/guidewire resistance affecting the delivery mechanism, an adaptive sliding controller based on master-slave tracking is designed. Through experiments and analysis of the fuzzy sliding mode controller (FSMC) experimental platform, the results show that a vascular interventional robot control system with good tracking performance and strong robustness has been designed.