Master-Slave System Research of a Vascular Interventional Surgical Robot

摘要

Aiming at the exist problem that most of the vascular interventional surgical robots cannot avoid shivering during the surgery, a new master-slave system is designed for the invasive vascular interventional surgery. The following tasks are conducted: applying the magnetic particle clutch to the force feedback device of the master manipulator to improve the performance of the master-slave system; designing the mechanisms of the master manipulator and the wire feeder; building the dynamic models of the master-slave mechanisms; conducting the experiments for validating the control system. The results confirm that the master-slave system can greatly improve position accuracy and surgical safety of guidewire delivery.