A novel master-slave robotic system with close loop control for vascular interventional surgery

Cardiovascular and cerebrovascular diseases have become the first threat of human health. With the development of interventional surgery, minor trauma, safety and high efficiency have become the focus of today's technological development. However, doctors are exposed to a large amount of X-ray radiation during surgery, which causes great damage to the doctors. So master-slave interventional surgical robot systems have developed rapidly. And the accuracy of the interventional robot directly determines the safety and reliability of the operation. Therefore, this paper designs a new type of slave device and control algorithm to improve the control accuracy of the interventional robot. This paper proposes a novel master-slave robotic system with close loop control for vascular interventional surgery. By adding a rotary encoder coaxial with the guide wire holder, it is used to detect the actual rotation angle of the guidewire and a linear position sensor fixedly connected with the guidewire clamper detects the axial displacement of the guide wire to form a closed-loop control to improve guidewire rotation and linear control accuracy. The results show that with the closed loop control of the guide wire, the average following error of the linear control of the guide wire is 0.912 mm, and the linear control average error is reduced by 63.96% compared to the system without feedback. The average following error of the rotation control is 1.311°, and the mean error of the rotation control is reduced by 43.47% compared to the non-feedback system. It indicates that the closed-loop control system has a good effect on improving the control accuracy of the surgery robot.