Design of a New Catheter Operating System for the Surgical Robot

In interventional surgery, the manual operation of the catheter is not accurate. It is necessary to operate the catheter skillfully and effectively to protect the surgeon from radiation injury. The purpose of this paper is to design a new robot catheter operating system, which can help surgeons to c...

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Bibliographic Details
Published in:Applied bionics and biomechanics 2021, Vol.2021, p.8898311-9
Main Authors: Ma, Xu, Zhou, Jinpeng, Zhang, Xu, Qi, Yang, Huang, Xiaochen
Format: Article
Language:English
Subjects:
Accuracy
Algorithms
Catheters
Control algorithms
Control theory
Controllers
Experiments
Feedback
Medical instruments
Neural networks
Operating systems
Physicians
Proportional integral derivative
Radiation
Radiation injuries
Robotic surgery
Robots
Sensors
Surgeons
Surgery
Systems stability
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Summary:In interventional surgery, the manual operation of the catheter is not accurate. It is necessary to operate the catheter skillfully and effectively to protect the surgeon from radiation injury. The purpose of this paper is to design a new robot catheter operating system, which can help surgeons to complete the operation with high mechanical precision. On the basis of the original mechanical structure—real catheter, the operation information of the main end operator is collected. After the information is collected, the control algorithm of the system is improved, and the BP neural network is combined with the traditional PID controller to adjust the PID control parameters more effectively and intelligently so that the motor can reflect the output of the controller better and faster. The feasibility and superiority of the BP neural network PID controller are verified by simulation experiments.
ISSN:1176-2322
1754-2103
DOI:10.1155/2021/8898311