Mechanism design and simulation analysis of robot system for vascular interventional surgery

摘要

Abstract At present, the mortality of cardiovascular and cerebrovascular diseases is getting higher and higher, interventional surgery has obvious advantages over traditional surgery, and robot technology has also entered this field. Combined with the existing research results, a set of surgical robot system is designed. The operating device uses magnetic powder brake to provide real force feedback of braking torque, the propulsion device adopts a clamping rod structure to accurately clamp the catheter or guide wire, and the force signal is collected by using the lever principle. Finally, the study of the dynamic characteristics of the propulsion device shows that the smaller the quality and the higher the tension force are, the more favorable the performance of the propulsion device is, and the calculation verifies the rationality of the transmission part of the propulsion device.