Minimally invasive vascular interventional surgical robot system

摘要

The paper introduced a new minimally invasive vascular interventional surgical robot system which offers great help for surgery doctor. The system mainly includes a positioning arm, a catheter interventional device and the two manipulation devices: a six-dimensional sensor used for the operation of the positioning robot; a catheter interventional manipulation device used for the operation of catheter intervention. The paper describes the structures and functions of the above four parts, respectively. Some experiments are conducted to evaluate the precision of positioning robot and the interventional force sensitivity of catheter interventional device. All of these can lay the foundation for further study of minimally invasive vascular interventional surgical robot.