A New Control Strategy of Interventional Surgery Robot Based on Nonsingular Terminal Sliding Mode

Cardiovascular and cerebrovascular diseases are one of the major diseases that endanger human health, and nowadays, the use of robotic technology to assist interventional surgery has become an important means for the treatment of vascular diseases. This article proposes a robust control method based on Terminal Sliding Mode Control (TSMC) to address the nonlinear disturbances and convergence speed issues in path tracking control of interventional surgical robots. By constructing a terminal sliding surface, a control law with finite time convergence characteristics is designed, and the stability of the system is proved by combining Lyapunov stability theory. The Matlab simulation results show that this method can effectively suppress system jitter and improve trajectory tracking accuracy