Mechanism design of the minimally invasive vascular interventional surgery robot system

Abstract

A novel minimally invasive vascular interventional surgery robot system is proposed and manufactured. The system includes a positioning arm, a tube feeding mechanism and its manipulation device. In order to realize the simple and reliable space location and intuitive operation of the tube feeding mechanism, a new positioning mechanical arm is designed for the invasive vascular interventional surgery robot system. The passive positioning mechanical arm adopts a new joint locking scheme. The normal and inverse kinematics of the manipulator is calculated and the working space is simulated. The tube feeding mechanism realizes the axial feed of the catheter through a pair of reverse rotating rollers, and the rotation of the tube feeding machine along its own axis is realized by a unique gear drive mechanism, in addition the rotation of the catheter is realized. The separation of the tube feeding mechanical and its manipulation device allow that doctors do operations outside the operating room to protect themselves from radiation. Moreover, the system can realize force feedback which can help the operator to have force telepresence and to increase the sense of reality and immersion.