Catheter intervention manipulation system of minimally invasive robotic surgery

摘要

This paper presents a novel catheter intervention manipulation system of minimally invasive robotic surgery which includes a catheter intervention manipulation device and a catheter intervention device. The structure and feature of the system are described, and the ways of realizing force feedback and disinfection are proposed. Moreover, the clamping force of rotating finger giving to the catheter is analyzed, which provides an optimizing target to the mechanism optimization.