Study on Inhibition of Inaccurate Operation for Remote-controlled Vascular Interventional Robot

摘要

Remote-controlled vascular interventional surgery robots (RVIR) are being developed to reduce the occupational risk of the intervening physician, such as radiation, chronic neck and back pain, and increase accuracy and stability of surgery operation. However, inaccurate replicated motion on slave side will result in incorrect operation, or even medical accident. To prevent the inaccurate operation, the method that shuts down the power source or switches off the connection between the master controller and the slave manipulator is typically used. These methods will restrict the continuity of operation and the dexterity of a surgeon. In this paper, a novel RVIR integrated with a bimodal gripping mechanism was designed and its performance was evaluated by experiment. The results demonstrated that the incorrect operations can be eliminated without restricting the continuity of operation and the dexterity of a surgeon by using different clamping forces.