Abstract: Soft fiberoptic choledochoscope is an important tool for the diagnose and surgical treatment of biliary disease. However, the traditional soft fiberoptic choledochoscope is hard to operate, due to the low position accuracy. Based on the conventional soft fiberoptic choledochoscope, an electrical soft fiberoptic choledochoscope robot with a low latency was developed. In order to improve the controllability of the conventional choledochoscope, the wire traction mechanism and the rotation mechanism are used to bend and rotate the scope, so as to control its movement orientation. The dead band compensation model and control algorithm of the wire traction mechanism are developed to improve the accuracy of the orientation control. The human-computer interaction system complex motion control system are developed based on ARM emedded system and FPGA. Thanks to the highspeed synchronization channel between FPGA and peripheral, the design of low latency whole-procedure surgical mode was established and verified. Combined with a micro image sensor, real-time video back transmission was realized. The performance of the robot prototype was verified by animal experiment in vivo on a pig. The robot has an extremely low operating latency of no more than 0.402 ms, and a high bending positioning accuracy of ±1.43◦ error margin within 99.7% confidence interval, which guarantees the safety of biliary surgery.

Key words: soft fiberoptic choledochoscope, electrical control, low latency, in vivo animal experiment

摘要： 纤维胆道镜是胆道系统疾病的诊断和手术治疗的重要工具。但传统的纤维胆道镜操作困难，精度较低。基于传统纤维胆道镜，研制了电动控制遥操作低延时的纤维胆道镜机器人驱动控制系统。设计了钢丝牵引机构和镜体回转机构，进行胆道镜体前端的弯曲和整体回转，实现了行进方向的控制。建立了钢丝牵引机构的死区补偿模型和控制算法，提高了胆道镜方向控制的准确性。基于ARM嵌入式系统和FPGA开发了人机交互系统和复杂运动控制系统，建立了低延时全流程手术模式设计，并进行了验证。结合微型图像传感器，实现了实时视频回传。通过活体猪动物实验，验证了机器人样机的预期设计性能。该机器人操作延时极低，不超过0.402 ms；弯曲定向精度高达1.43°（99.7%置信区间），能够保障胆道手术的安全性和精确性。

关键词: 纤维胆道镜，电动控制，低延时，动物实验