Design and control of a robotic system for minimally invasive vascular interventional surgery

摘要

The design and control methods of robotic system for vascular interventional surgery is studied in this paper. By considering the characteristics of vascular interventional surgery and operation habits of surgeon, a master-slave remote control catheter system is presented. The system consists of three parts: the operation handle, the catheter manipulator and the host computer. The operation handle is designed to simulate the surgeon's surgical procedure, and the catheter manipulator tracks the handle's movements in both translation and rotation directions. Real time communication between the operation handle and the catheter manipulator has been built based on the host computer. Effectiveness and speed tracking performance between the catheter manipulator and the handle was validated by simulation experiments on a human vascular model.