Evaluation Method of Linear Displacement Precision for a Rope-driven Vascular Intervention Surgery Robot

摘要

Vascular Intervention Surgery (VIS) becomes more and more popular to diagnosis and treat the cardio-cerebrovascular diseases. This way has many advantages, such as: shorter operation time, less trauma, shorter recovery time and so on. However, this way also has threatened the doctor by ionizing radiation. Therefore, using a robot to assist doctor to undergo surgery appeals to many scholars. And about the robot, the displacement precision is very important in the surgery. In this paper, in order to improve the linear displacement precision of the slave manipulator, the evaluation method for linear displacement precision are proposed. Firstly, the linear displacement model of rope-driven for VIS is established. Secondly, the performance of this model is evaluated by experiments. Lastly, a compensation model is proposed, and this model can effectively improve the linear displacement precision.