Remote Vascular Interventional Surgery Robotics: A Review

摘要

Interventional doctors are exposed to radiation hazards during the operation and endure high work intensity. Remote vascular interventional surgery robotics is a hot research field that can not only protect the health of interventional doctors, but also improve accuracy and efficiency of surgeries. However, the current vascular interventional robots still have many shortcomings to be improved. This article introduces the mechanical structure characteristics of various fields of vascular interventional therapy surgical robots, discusses the current key features of vascular interventional surgical robotics in force sensing, haptic feedback, and control methods, summarizes current frontiers about autonomous surgery, long geographic distances remote surgery and MRI-compatible structures. Finally, combined with the current research status of vascular interventional surgery robots, this article analyzes the development directions and puts forward a vision for the future vascular interventional surgery robots.