Performance Optimization of Force Feedback Control System in Virtual Vascular Intervention Surgery

摘要

In virtual surgery of minimally invasive vascular intervention, the force feedback is transmittedthrough the flexible guide wire. The disturbance caused by the flexible deformationwould affect the fidelity of the VR (virtual reality) training. SMC (slidingmode control) strategy with delayed-output observer is adopted to suppress the effect offlexible deformation. In this study, the control performance of the strategy is assessedwhen the length of guide wire between actuator and the operating point changes. Theperformance assessment results demonstrate the effectiveness of the proposed methodand find the optimal length of guide wire for the force feedback control.