Research and implementation of master-slave control for interventional robot system

摘要

Minimally invasive endovascular surgery is an important means of treatment of cardiovascular diseases. The operation of traditional surgical intervention operation system was very difficult. And it is a departure from the hand-held conduit progressive doctors operating mode. The doctors are asked too much for the intubation. In order to solve this problem, based on the new catheter mechanical means a linear stepper / push mechanism guide-wire with scaling control method between master and slave, a mobile surgical robot master-slave control system was designed, and the performance of this device was tested. Experiments showed that the axial movement between the master and slave system error is less than 1%, and the rotational movement accuracy is better than 1 degree in performance and functionality to meet the requirements of vascular interventional procedures.