Design and control method of surgical robot for vascular intervention operation

Abstract

This paper introduces a kind of robot which can complete the vascular intervention under doctor's remote control. A manipulator is designed to transmit and rotate the guide wire like a doctor's hand. The robot comprises four manipulators, and it can complete some classical intervention operations what a doctors and an assistant can do during the ordinary vascular intervention. Then the system control method of the robot is proposed. A distributed multi MPUs circuit system is used to drive, control 15 motors and monitor the control panel. Each motor MPUs modules communicates with the control panel MPUs module. Some experiments are introduced. The robot has the required grasping force to operate the guide wire and the guide wire twist can be realized with a higher precision under the remote control. Compared with the traditional vascular interventional surgery robot system, this robot can realize not only more complex operation but also a great extent the simulated operation process of medical personnel.