关键词: 主从介入手术, 导管机器人系统, 三维模糊控制, 导管运动学模型

Abstract: In minimally invasive endovascular interventional surgery, catheter was vulnerable to be interfered by uncertain factors such as heartbeat and breathing of patients during catheter robot of slave side conveyed catheter. In order to retrain impact on catheter transport of these factors and realize that slave side of catheter robot system tracked control command of master side accurately and quickly, kinematic model of catheter distal bending section was established, and catheter robot system based on three-dimensional fuzzy controller was designed. Three-dimensional fuzzy controller that introduced the function of rate of error change on the basis of two-dimensional fuzzy controller could further improve response speed of system and reduce overshoot and retrain disturbance. Simulation results show that the scheme makes catheter robot system have fast tracking performance and stronger robustness performance, improving control precision of system.

Key words: master-slave interventional surgery, catheter robot system, three-dimensional fuzzy control, catheter kinematic model