Study on Tracking Stability for a Master-Slave Vascular Interventional Robotic System

Abstract

In this paper, in order to solve the problem of tracking stability of a master-slave vascular interventional robotic system, the related research was made. A conditioning circuit and a filtering algorithm were designed to suppress the problem of the jitter from the slave of the robot. The master-slave tracking system uses differential control, and the stability of the input signal directly affects the stability of the differential control. In order to obtain a stable and accurate master-slave axial displacement signal, a linear attenuation circuit with filter follow-up function is designed as the acquisition and conditioning circuit, and the collected information is Kalman filtered to obtain a stable and accurate axis displacement signal. The axial displacement signal acts as the input to the master-slave tracking system, and the stability of the input enhances the stability of the differential control. The experimental results showed that the linear attenuation filter follower circuit and Kalman filter can effectively enhance the stability of the acquired signal, which enhances the motion stability of the master-slave tracking system with differential control and the problem of dither from the slave manipulator during the motion is solved.