The Model Experimental Evaluation of the Cardiovascular Interventional Surgery Robot System

摘要

Cardiovascular intervention is an important method in the treatment of cardiovascular disease. The master-slave operational cardiovascular intervention robots can solve the problem of X-ray radiation during the interventional surgery. This paper introduces a master-slave robotic surgical system with force feedback for pushing guidewire and balloon catheter, and injecting contrast agent. The master-slave control jitters are mitigated by variable limiting filtering algorithm. In order to evaluate the functionality of the interventional robotic system, a carotid model experiment was performed on the pushing and rotating function of the system and the force feedback data was obtained to analyze system functions. The experimental results show that the interventional robot system can perform complicated guidewire pushing process under the condition of master-slave remote operation, and the force feedback can well reflect the force of the guidewire pushing process.