Study on Admittance Control for the Vascular Interventional Surgical Robot

When a doctor operates a vascular interventional surgery robot for surgery, the surgical instrument contacts the vascular environment to generate a force. If this force exceeds the safe force threshold, it is easy to pierce the blood vessel wall and cause danger. In order to solve this problem, this paper proposes a method of using admittance control to realize active compliance control. The force information is combined with the motion control closed-loop. When the contact force is too large, the admittance control is performed. The force is used as the input and the displacement is the output. The position of the slave side is adjusted in real time, and the contact force is reduced through the position control. The simulation experiment of the admittance control were carried out in this paper, and the results indicated that the admittance control can limit the excessive contact force and the penetration depth of the slave at the same time, and it significantly improved the safety and compliance of the slave.