A new tele-operating vascular interventional robot for medical applications

摘要

VIS(Vascular Interventional Surgery), an effective method for cardiovascular and cerebrovascular diseases, is performed under fluoroscopic X-ray guidance. To solve the troubles existing in VIS, in this paper, the total tele-operating VIS system was given in brief, then the novel vascular interventional robot including 5-DOF active supporting manipulator and 2-DOF catheter operating system was introduced detailed on the basis of process analysis of VIS. Considering its application particularity, safety design of the manipulator was mentioned accordingly. Experiment showed that the supporting medical manipulator run smoothly and positioned the catheter operating system accurately, which is essential to the safety of medical robot.