基于力反馈的血管介入手术机器人系统主端操作器的设计与评估

发布时间：2018-05-30 07:13

本文选题：血管介入手术 + 遥操作　；参考：《天津理工大学》2017年硕士论文

【摘要】：近些年来,全球每年患心脑血管疾病将近1700万人,已经成为威胁人类生命健康的头号杀手。随着科学技术的发展,治疗手段也在逐步提升,但依然存在一些问题,比如医生在操作过程中无法避免的受到X光的辐射等,主从操作的介入手术机器人得到了广泛的应用,解决了一些传统手术存在的问题,但目前已有的血管介入手术机器人系统存在力反馈系统结构复杂、稳定性差的问题,因此,本文设计了一种新型的基于力反馈的血管介入手术机器人系统的主端操作系统,并对其进行了评估。针对现阶段已有的血管介入手术机器人系统力反馈检测系统误差大的问题,本文提出了一种新型血管介入手术机器人辅助系统的主端操作器,本研究是基于电磁感应原理设计的一种新型主端力反馈系统,将电磁力作为从端导管在血管中的碰撞力传递给医生的手。除此之外,医生在操作过程中操作一根实际手术中用到的真实导管,它能够通过主侧的手术导管将从操作器检测到的手术导管所受阻力反馈到医生手上,提供给医生一种触觉临场感,有利于提高手术安全性。而且能充分利用在传统血管介入手术中的经验进行操作,以防因触觉差异而产生误差。针对操作系统轴向运动信息由直线位移传感器测量精度不够的问题,本文提出了用光电编码器代替直线位移传感器测量运动信息,再用正交解码芯片形成四倍频,将光电编码器的旋转角度转换为前进后退的位移,再利用数码管将位移信息直观地显示给医生。本系统的从端操作器是整个手术过程中实际送导管的一端。导管的尖端及侧壁都装有力检测传感器,再传到医生的手,感应从端的受力情况。本文提出了一种新型基于力反馈的血管介入手术机器人系统的主端操作器的设计与研究,并对整个系统进行力反馈系统的评估及验证,得到力反馈最大误差小于6mN;最后测试新主从操作系统主从追踪的稳定性,评估整个新系统性能,得到轴向追踪系统最大误差小于1.6 mm,径向追踪系统最大误差小于3.6°,说明主从端同步跟随性能较为稳定。
[Abstract]:In recent years, nearly 17 million people worldwide suffer from cardiovascular and cerebrovascular diseases every year, which has become the leading killer of human life and health. With the development of science and technology, the treatment methods are also gradually improved, but there are still some problems, such as the doctors can not avoid the X-rays radiation in the operation, the master-slave interventional surgery robot has been widely used. Some problems existed in traditional surgery have been solved, but the existing vascular interventional surgery robot system has the problems of complex structure of force feedback system and poor stability. In this paper, a new main operating system of vascular interventional robot system based on force feedback is designed and evaluated. In order to solve the problem of large error in the force feedback detection system of vascular interventional robot system, this paper presents a new type of main end manipulator for the assistant system of vascular interventional surgery robot. Based on the principle of electromagnetic induction, a new feedback system of main force is designed in this paper. The electromagnetic force is transferred to the doctor's hand as the collision force from the end catheter in the blood vessel. In addition, the doctor operates a real catheter that is used in the actual operation, which can feed back to the doctor's hand the resistance from the surgical catheter detected by the operator through the main side of the catheter. To provide doctors with a sense of tactile telepresence, is conducive to improve the safety of surgery. And it can make full use of the experience in traditional vascular interventional surgery to prevent errors caused by tactile differences. In order to solve the problem that the measurement accuracy of the axial motion information of the operating system is not enough by the linear displacement sensor, this paper proposes that the photoelectric encoder is used instead of the linear displacement sensor to measure the motion information, and then the quadrature decode chip is used to form the four times frequency. The rotation angle of the photoelectric encoder is converted into the forward and backward displacement and the displacement information is displayed intuitively to the doctor by using the digital tube. The slave operator of the system is one end of the actual delivery catheter during the whole operation. The tip and side walls of the catheter are fitted with force sensors, which are passed to the doctor's hand to sense the force from the end. This paper presents the design and research of a new type of force feedback based primary manipulator for vascular interventional robot system, and evaluates and verifies the force feedback system of the whole system. The maximum error of force feedback is less than 6 mn. Finally, the stability of master-slave tracking of the new master-slave operating system is tested, and the performance of the whole new system is evaluated. The maximum error of the axial tracking system is less than 1.6 mm and the maximum error of the radial tracking system is less than 3.6 掳, which indicates that the synchronization performance of the master-slave end is stable.
【学位授予单位】：天津理工大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TP242

【相似文献】