Force Analysis of Catheter Tip Influenced by Multiple Factors in Interventional Surgery Robot

Abstract

The mortality rate of cardiovascular and cerebrovascular diseases is very high, which poses a great threat to human life and health. It has long plagued the middle-aged and elderly people. There are also many young people who suffer from cardiovascular and cerebrovascular diseases. Vascular interventional surgery is an effective means to treat cardiovascular and cerebrovascular diseases, compared with traditional surgery, vascular interventional surgery causes less damage to patients. But interventional surgery will also bring some new problems, for example, the catheter used for surgery needs to pass through long and narrow blood vessels, and lack of real force feedback. In order to avoid or reduce iatrogenic injury, we decided to explore the possible impact of different factors in the surgical process. Firstly, based on real blood vessel size, we designed three simulated blood vessels in vitro. Secondly, through multiple sets of controlled experiments, we successfully explored the impact of robot push speed, blood vessel depth, and blood vessel width on the risk of robot operation. Finally, through the ATI Force/torque sensor to record the data of the tip force of the catheter, through comparative analysis and control variables, we had obtained the influence of different factors on the tip force of the catheter.