Study on A Novel Strategy for Eliminating Tremor in Vascular Interventional Robot

摘要

With the development of vascular interventional surgical robots, higher and higher requirements for the safety of surgical robots are put forward. For the master-slave surgical robot, the physical tremor of the doctor's hand will affect the safety of the operation, and may even lead to the failure of the operation if not handled properly. In the process of vascular interventional surgery, involuntary hand tremor may occur due to the doctor's long time hand manipulation. For the identification and filtering of physiological tremor, an improved adaptive Kalman filter algorithm and a new zero-phase filter are used to filter out the wrong operation caused by physiological tremor. Among them, the new zero-phase filter identifies the tremor signal, and the improved adaptive Kalman filter obtains the tremor signal at this moment according to the identified tremor signal at the previous moment, and applies the signal with the same phase and opposite amplitude to the control signal, so as to achieve the purpose of filtering physiological tremor. Two combined functions are used to simulate the doctor's hand tremor signal and operation signal, which superimpose the actual operation signal of the doctor's hand. Through simulation comparison, it is found that the improved adaptive Kalman filter can have better filtering effect than traditional low-pass filtering and traditional Kalman filtering, and can better filter out physiological tremor. The proposed method has significantly improved the safety requirements of vascular interventional surgery robots.