Evaluation of a Clamping Mechanism for Vascular Interventional Surgery Robotic System

摘要

At present, the vascular interventional surgery has attracted more attention. Because it has the advantages of smaller trauma, lower pain, and quicker recovery after the operation. As for the design of the clamping mechanism, fast and lossless clamping of the catheter has always been a hot and difficult point in the current research. In this paper, a novel slave manipulator is introduced (contains coordinate system). It simulates the twisting of human fingers for the catheter during the actual vascular interventional surgery. Moreover, we evaluated its clamping form. Simulation results show that: From the angle of total deformation, strain, and stress, it is analyzed that there is no damage to the catheter; From the point of view of the clamping force analysis, it is obtained that the clamping force is enough to guarantee the forward and backward of the catheter; From the perspective of conflict protection, the size of the clamping force can be changed by adjusting the clamping depth. In this way, the tip of the catheter can be avoided puncturing the vessel wall, thus increasing the actual clinical safety performance.