Characteristic Evaluation of a Master-Slave Interventional Surgical Robot Control System

摘要

Remotely controlled vascular interventional robots can improve the overall accuracy of surgery and reduce the occupational risks of interventionalists, such as radiation exposure and back pain. Related products currently available are capable of accurately operating a catheter or guide-wire. However, the lack of cooperation between the catheter and the guide-wire prevents the surgeon from performing complex surgery. In addition, ensuring the accuracy of remote control is also a major difficulty in research. In this paper, we introduce a surgical robot that allows the catheter and guide-wire to operate simultaneously and its control strategy. Animal experiments have been carried out to demonstrate the feasibility of the proposed robot to accurately operate the catheter and guide-wire, detect resistance and perform complex surgical procedures in a cooperative manner.