Design and Evaluation of a Novel Slave Manipulator for the Vascular Interventional Robotic System

摘要

In this study, we proposed a novel master-slave vascular interventional robotic system. This paper mainly designed the novel slave manipulator which can complete the vascular intervention surgery under doctor's remote control. The slave manipulator comprises four units, including three movable units and one stationary unit. These four units mimic the hands of the doctor in traditional vascular interventional surgery, and the four units work together to complete the push and rotation of the surgical catheter and guide wire. The proposed slave manipulator also can measure the resistance experienced during catheter and guide wire intervention in real time. We conducted three experiments to verify that the proposed slave manipulator can meet the requirements of vascular interventional surgery. The experimental results show that the proposed slave manipulator can accurately push and rotate the catheter and guide wire and can accurately measure the resistance of the catheter and guide wire during operation.