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 guidewire. In this paper, a VISR based on is proposed. It master–slave system consisting master manipulator that flexible enough slave wire feeder can deliver Accurate established to ensure safety operation, guidewire be regulated in real time. Based dynamic analysis mechanism, control scheme designed. The two-dimensional fuzzy PID (Proportion Integration Differentiation) controller equipped with on-line tuning parameters anti-interference capabilities. sine step signals are selected carry out simulation controller. performance designed was verified by experiment, experiment model experiment.