Design and Analysis for Minimally Invasive Vascular Interventional Surgical Robot System

摘要

The paper introduces a new developed minimally invasive vascular interventional surgical robot system which offers great help for surgery doctor. The system mainly includes a positioning arm, a catheter interventional device and the two manipulation devices: a six-dimensional force sensor used for the operation of the positioning robot; a catheter interventional manipulation device used for the operation of catheter intervention. Firstly, the components of the whole system and the use of every component are introduced simply. Then, the mechanical structures of the above parts are described in details and some features of every part are given. Finally, some experiments are conducted to evaluate the end bearing capacity of the arm, the motion performance of the catheter interventional device and the operating performance of the catheter interventional manipulation device. The results show that the proposed surgical robot system totally satisfies the design requirement and the control system is effective. All of these can lay the foundation for further study of minimally invasive vascular interventional surgical robot.