In interventional surgery, the manual operation of the catheter is not accurate. It is necessary to operate the catheter skillfully and effectively to protect the surgeon from radiation injury. The purpose of this paper is to design a new robot catheter operating system, which can help surgeons to complete the operation with high mechanical precision. On the basis of the original mechanical structure—real catheter, the operation information of the main end operator is collected. After the information is collected, the control algorithm of the system is improved, and the BP neural network is combined with the traditional PID controller to adjust the PID control parameters more effectively and intelligently so that the motor can reflect the output of the controller better and faster. The feasibility and superiority of the BP neural network PID controller are verified by simulation experiments.

中文翻译：

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用于外科手术机器人的新型导管操作系统的设计

在介入手术中，导管的手动操作不准确。必须熟练有效地操作导管，以保护外科医生免受辐射伤害。本文的目的是设计一个新的机器人导管操作系统，它可以帮助外科医生以较高的机械精度完成手术。根据原始的机械结构-实际的导管，收集最终用户的操作信息。信息收集后，改进了系统的控制算法，将BP神经网络与传统的PID控制器相结合，可以更有效，更智能地调节PID控制参数，从而使电动机更好地反映控制器的输出，快点。