Suppressing the effect of flexible deformation in virtual vascular intervention surgery

In virtual surgery of minimally invasive vascular intervention, the feedback force is transmitted by the flexible guide wire. The flexion deformation of the guide wire would cause force loss and system lag, which would affect the authenticity of the VR (virtual reality) training. The SMC (sliding mode control) strategy with delayed-output observe can be used to suppress the effect of flexible deformation, but the effect of flexible deformation would be larger when multi- flexible deformation. In this study, we add a Proportional plus integral (PD) compensator to the delayed-output observe to suppress the effect of multi-flexible deformation. Simulation experiment results prove that the improved control strategy can suppress the effect of flexible deformation. And the strategy can be used in most kinds of virtual surgeries to enhance the efficiency of VR training.