Development of a Grasper for Vascular Interventional Surgery Robotic System

Abstract

In recent years, Vascular interventional surgery robotic system has become a research hotspot of many research teams because of its characteristics of minimal trauma, less blood loss and rapid recovery. However, due to its own limitations, most of the vascular interventional surgery robotic systems are still in the laboratory stage. It is a difficult problem to develop a vascular interventional surgery robotic system that can simulate doctors' hand. So, from the perspective of doctors' clinical operation, this paper proposed a new grasper for vascular interventional surgery robotic system. The grasper can simulate the opening and closing of doctors' thumb and index finger. In addition, the part where the grasper contacts the surgical catheter are filled with rubber. The purpose of this is to increase the friction between the grasper and the surgical catheter to prevent slipping during the operation. Finally. ANSYS software was used to simulate the feasibility of the proposed grasper. Simulation results showed that the grasper can not only prevent the surgical catheter from being damage, but also operate the surgical catheter effectively.