ROBOT. Fuzzy Fusion of Forces Feedback in Vascular Interventional Surgery Robot System

Transcription

1 35 3 ROBOT Vol.35, No. Jan., 3 DOI.37/SP.J TP.3 A -(3)--- Fuzzy Fusion of Forces Feedback in Vascular Interventional Surgery Robot System ZHAO Depeng LIU Da (Robotics Institute, Beihang University, Beijing 9, China) Abstract: In order to consummate the master-slave robot system used in vascular interventional procedures, a closed loop of force is rebuilt. Two micro force sensors are integrated with a catheter, which can measure those forces between the tip or side wall of the catheter and vascular walls respectively at the same time. Given that the master-slave mode is different from the traditional hands-on operation and that it is necessary to ensure the sustained effect of the valuable experience from surgeons, a two-input one-output model in fuzzy inference is adopted to accomplish the fusion of the two sensors data. By means of calibrating membership functions and establishing a table of fusion rules, experience is converted into numerical strategies about the force feedback, which not only improves the force reflection under low sampling rate, but also characterizes collisions accurately with different resolutions. It ensures the safety, applicability and efficiency of the robot system. Keywords: master-slave robot; force feedback; micro force sensor; fuzzy fusion; membership function; fusion rule Introduction X [] [] X CT/MRI DSA [3-] 83 9AA drliuda@buaa.edu.cn -3-/-5-9/-7-

2 35 [3-] [3] Force measurement [5-7] mm m PTFE 5 Hz [8] () () (3) Fig. Force sensors of optical fiber and conductive rubber (a) 5 V AD Omega 3 (b) Fig. Animal experiment of the master-slave robot system 3 Fig.3 The master-slave robot system 3 Fuzzy fusion of forces

3 3 (a) (b) (c) (d) (e) [3] F sensor = K FS f S + K FStip f Stip () khz [9] 5 Hz []?? u u Fig. Closed loop of forces in the vascular interventional master-slave robot system 3. {,,,, } U i = {MP, QP, ZP, SP, YP} u i = [, 5V] i =, {,,,, } F ={HX, JX, JD, D, HD} f = [, N] {,,,3,,5,,7,8,9,,,,3} 3. 5 MP QP ZP SP YP 3 5 /V 5 Fig.5 Membership functions of the fuzzy sets of Collision

4 35 3 Omega X HX JX JD D HD 3 5 /N Fig. Membership functions of the fuzzy sets of Force 3.3 [] U U U (a) (e) IF U =ZP AND U =ZP THEN U =SP, F =D (a) F j > F j j =,3,,5 (b) F i j = F ji i, j =,3,,5 (c) F ik F i j F ki F ji i, j =,,3,,5 k = j +,,5 Tab. Table of fuzzy fusion rules U U U MP QP ZP SP YP MP MP QP ZP SP YP QP MP QP ZP SP YP ZP QP ZP SP SP YP SP ZP SP SP YP YP YP SP YP YP YP YP Tab. Correspondence of fuzzy subsets between the integral collision and force feedback U MP QP ZP SP YP F HX JX JD D HD IF-THEN 5 /V /s 7 Fig.7 Data from tip collision Simulation and experiment. MATLAB

5 3 u = u = u = u =3 u = u =5 u = u =7 u =8 u =9 u = u = u = u =3 Fig.8 8 MATLAB Results of the simulation by MATLAB 7 {,,,3,,5,,7,8,9,,,,3} Hz

6 Fig.9 9 Experiment in a vessel model /N tip side force /V /V /s Fig. Data from the experiment in the vessel model [] /s Fig. Result of the fuzzy fusion in the model experiment 5 Conclusion References [] [J]9 8() Lu W S, Liu D, Tian Z M, et al. The analysis of key technologies of intravascular intervention surgical robot[j]. Journal of Biomedical Engineering Research, 9, 8(): [] [J] 3()

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