Master-Slave Guidewire and Catheter Robotic System for Cardiovascular Intervention

摘要

Cardiovascular disease remains a primary cause of morbidity globally. Percutaneous coronary intervention plays a crucial role in the treatment. The radiation exposure of surgeons during the cardiovascular intervention can be avoided by master-slave surgical robots. This paper introduces a master- slave guidewire and catheter robotic system to protect the surgeons from X ray radiation to the most extent. And the jitters of master manipulators are mitigated by Kalman filtering algorithm. With two master manipulators, it helps to retain the surgeon's traditional operating habits. Also, a vascular model trial was conducted to validate that this interventional robotic system could complete the alternate progress and rotation of interventional guidewire and catheter.