Design of a New Catheter Operating System for the Surgical Robot

Area of Science:

• Robotics in Medicine
• Surgical Technology
• Control Systems Engineering

Background:

• Manual catheter operations in interventional surgery lack precision.
• Surgeons face risks of radiation injury during catheter procedures.
• Existing systems require enhanced mechanical accuracy and operator safety.

Purpose of the Study:

• To design and develop an advanced robot catheter operating system.
• To improve the precision and safety of interventional surgical procedures.
• To reduce surgeon exposure to radiation through automated control.

Main Methods:

• Integration of a novel robotic mechanical structure with real-time catheter control.
• Collection and analysis of operator's main end manipulation data.
• Development of an improved control algorithm combining BP neural network with PID controller.
• Intelligent adjustment of PID control parameters for enhanced motor response.

Main Results:

• The BP neural network PID controller demonstrated effective and intelligent adjustment of control parameters.
• Simulation experiments verified the feasibility and superiority of the proposed control system.
• The robotic system achieved high mechanical precision in simulated catheter operations.
• Improved motor response and accuracy in reflecting controller output were observed.

Conclusions:

• The developed robot catheter operating system offers high mechanical precision for surgical tasks.
• The BP neural network PID controller significantly enhances control system performance.
• This technology has the potential to improve surgeon safety and procedural outcomes in interventional surgery.