Study on motion following with feedback force disturbance in interventional surgical robot system

摘要

Neurological intervention surgery (NIS) is surgery branch vascular interventional surgery, one kind of the minimally invasive. And it has become the mainstream of the treatment in the cerebrovascular disease. Robotic surgery system with the functions of haptic feedback and the doctor-patient separation has enormous significance for the development of NIS. However, in previous studies, the haptic feedback greatly affected the motion detection accuracy. This paper presents a novel interventional surgical robot systems. The aim is improving the accuracy of motion control while providing haptic feedback. This researches take the design thought of master-slave system which realized the function of doctor-patient separation. The slave side includes a novel guide wire resistance measurement structure and guide wire manipulator. The master side can provide haptic feedback for doctors and collect guide wire control commands from doctors. In this paper, design of the developed interventional surgical robot system was presented. And design experiments to assess the follow of axial movement, rotation. The feasibility of the developed system is proved.