Study on slave side of interventional surgery robotic system focused on the feed-back force detection

Abstract

Minimally invasive interventional surgery shows its advantages compared to traditional operation. The master-slave robotic system technology can further significantly improve the accuracy, efficiency and safety of this complicated and high risk operation. However, one of the critical issues in the robotic system, guide wire force feed-back, needs more research. The mechanical structure of the salve robot is designed basing on modularizing design principle. Ball spline pair, guide pair and herringbone gear pair are adopted in the structure concept. The experimental equipment is developed and the verifying experiments are conducted. The guide wire detected feedback force matches well with the detected resistance force. It indicates that the designed slave part and design method is rational from the point of feedback force detection.