在微创血管介入手术中,采用三维超声跟踪导管末端力和位姿,来辅助医生完成插管动作。手术要求对导管末端力高精度跟踪,防止用力过度造成血管穿孔,大量流血。但力跟踪过程中数据采集、传输和计算固有的时间延迟易使仪器与血管碰撞,存在血管损伤等潜在的危险。为了解决上述问题,本文采用预测控制对导管机器人系统进行力跟踪,利用心脏运动模型来预测心脏路径,从而弥补延迟时间,提高力跟踪精度。仿真结果表明,所提出方法在微创手术中具有可行性与实用性。 In minimally invasive vascular interventional procedures, three-dimensional ultrasound is used to track the end-force and posture of the catheter to assist the surgeon in completing the intubation. Surgical requirements of high precision catheter end tracking to prevent excessive force caused by vascular perforation, a large number of bleeding. However, the time delay inherent in data acquisition, transmission and calculation in the force tracking process can easily collide with the blood vessel, posing potential dangers such as vascular damage. In order to solve the above problems, this paper uses the predictive control to force track the catheter robotic system and use the cardiac motion model to predict the cardiac path, so as to make up for the delay time and improve the force tracking accuracy. The simulation results show that the proposed method is feasible and practicable in minimally invasive surgery.