A Novel Vascular Intervention Surgical Robot Based on Force Feedback and Flexible Clamping

At present, most vascular intervention surgical robots (VISRs) cannot achieve effective force feedback and lack regulation of the clamping force of the guidewire. In this paper, a VISR based on force feedback and clamping force regulation is proposed. It is a master–slave system consisting of a master manipulator that is flexible enough and a slave wire feeder that can deliver the guidewire. Accurate force feedback is established to ensure the safety of the operation, and the clamping force of the guidewire can be regulated in real time. Based on the dynamic analysis of the mechanism, the control scheme of the system is designed. The two-dimensional fuzzy PID (Proportion Integration Differentiation) controller is equipped with on-line tuning parameters and anti-interference capabilities. The sine and step signals are selected to carry out simulation analysis on the controller. The performance of the designed VISR was verified by a force feedback experiment, a clamping force regulation experiment and a vascular model experiment.