Design and Performance Evaluation of a Novel Vascular Interventional Surgery Robot

Abstract

Introduction: Minimally invasive interventional surgical robots are used as delivery tools to assist healthcare professionals with medical devices such as micro guidewires and microcatheters during surgical treatment of cardiovascular and cerebrovascular obstruction, thus reducing surgical fatigue and radiation for healthcare professionals. Methods: In this paper, a new vascular interventional surgical robot with multiple degrees of freedom is designed, its mechanism principle and movement mode is discussed in detail, and a prototype prototype is fabricated to make it simulate and reproduce the doctor's hand movements. Results: Through Abaqus simulation and platform experiments, the performance of the surgical robot is evaluated and analyzed from the perspectives of micro guidewire delivery displacement accuracy and radial clamping force for its high accuracy, high reliability, and safety. Conclusion: The results demonstrate that its surgical robot meets the requirements of providing vessel wall overload protection while the microcatheter delivery positioning accuracy error is less than 1 mm.