Mechanical design and control system of vascular interventional robot

摘要

Cardiovascular and cerebrovascular disease, one of three major human malignancy diseases, leads to more than 17 million people deaths every year. As VIS(Vascular Interventional Surgery) is an effective method for the disease, considering actual operation needs and difficult problems such as surgical complexity, poor controllability and long irradiation time, a robotic surgical system was designed to assist surgeons on manipulating. In this paper, gave the total VIS system in brief, then the novel vascular interventional robot including 5-DOF active support manipulator and 2-DOF catheter operating system was introduced detailedly on the basis of process analysis of VIS. Considering its application particularity, safety design of the manipulator was mentioned accordingly. Experimental results showed that the vascular interventional robot has multiple advantages such as novel structure, flexible control, high locating precision compared to conventional manipulators. The development of this medical robot system contributes to the promotion and popularization of the VIS in clinics.