Simulation Analysis of Catheter Bending in Vascular Intervention Robot Based on ANSYS

Abstract

Vascular interventional surgery has played an important role in the treatment of cardiovascular and cerebrovascular diseases. The corresponding vascular interventional robots are also developed. In our previous work, the interventional operation robot was developed to operate catheter or guidewire. However, in the process of conveying the catheter, the surgical accuracy will be affected by the inevitable bending deformation of the catheter in the sleeve. In this paper, in order to improve the accuracy of position control, we simulated the deformation of the catheter and obtains the displacement error caused by the catheter based on the ANSYS software. The results proved that the deformation of the catheter affects the precision of position control, and simulation results are prepared for the later compensation algorithm.