Implementation and Performance Analysis of Vascular Interventional Robotic Surgical Maneuvers

摘要

Minimally invasive vascular interventional surgery has become one of the main clinical modalities for the treatment of cardiovascular diseases due to its advantages of small intraoperative incisions, precise localization of lesions, and rapid postoperative healing. Based on the drawbacks of low operational precision and excessive radiation exposure of physicians in current vascular interventional procedures, this paper proposes a master-slave teleoperated vascular interventional surgery robotic system to assist physicians in human-machine collaborative interventional procedures. Particularly, the implementation of the system's surgical actions of push-pull and twist guidewire is presented, including hardware construction and driver development. Further, experiments are conducted to test and analyze the performance of the robotic control system. The experimental results verify that the robotic system has good master-slave following and high system positioning accuracy. Finally, the feasibility and reliability of the robotic system for delivering guidewires to perform interventional procedures were verified by robot-vascular model experiments.