Design and Performance Evaluation of a Novel Vascular Interventional Surgery Robot

摘要

In this paper, aiming at the problems existing in the vascular interventional surgery and the current research status, a vascular interventional surgery robot is designed by utilizing the master-slave control system. First, from the perspective of ergonomics, we design a master manipulator. It allows doctor to operate the medical catheter or guidewire directly during the operation. And then based on the same concept, we design a slave manipulator. It can reproduce the doctor's hand movements and ensure that the medical catheter or guidewire can reach the lesion smoothly in the blood vessels. Finally, the precision of the robot system is verified from the two dimensions of displacement and angle at different master-control ratios. Final results show that the whole interventional surgical robot system can meet the clinical requirements.