A vascular intervention assisted robot based on master-slave control mode

摘要

The traditional vascular interventional surgery requires the surgeon to have high proficiency and skills to complete the surgery, also it may cause the surgeons and patients exposed in the radiation state for a long time and the stability and accuracy of guide wire and catheter are relatively lower. To overcome the drawbacks of traditional interventional surgery, a vascular intervention assisted robot was developed which was based on master-slave control mode to assist the surgeon to complete catheter and guide wire operations. To validate the performance of robot, relative experiments were performed on the silicon cardiovascular model. Experiments show that the developed vascular intervention assisted robot has good operating performance, could help surgeon to achieve the operation of catheter and guide wire steadily, furthermore, with the assist of the robot, the positioning accuracy of catheter and guide wire is improved.