In cardiovascular interventional surgery of master-slave robot

doctor’s finger feels a " bounce". During the operation

time delay and friction of force transmission mechanism and the bending of the guide wire have great influences on the force feedback control

which requires higher robustness of the system. So sliding mode controller is designed based on human hand’s perception of force. Combined with generalized predictive control algorithm and virtual image simulation technology

the influence of feedback delay is reduced. Multi-perception quantitative evaluation index of transparency is studied according to doctors’ understanding of " bounce" force and human hand’s perception threshold. The simulation results show that the designed master-slave robot control system has important theoretical significance and practical value for the system design

engineering implementation and transparency evaluation of the system using flexible body as operation target.