The Mechanical Design Of Master-slave System In The Endovascular Interventional Robotic System

In recent years,as a new type of surgery minimally invasive surgery has been more and more accepted by people,with its small wound,quick recovery which other surgical methods can not match.However,doctors are exposed in radiation for a long time in surgery.It causes a lot of harm to the health of doctors.For this reason,there are a number of domestic and foreign research for the intervention of surgical robots,and some results have been achieved.This topic is aimed at the mechanical design of the master-slave robot of the surgery.This paper first describes the background of the subject,introduces the research status of the master and slave interventional robotic system at home and abroad,summarizes the existing products at home and abroad as well as the domestic and foreign scholars' research results,introduces some shortcomings in their work,and also introduces the purpose and significance of this subject.Based on the research results at home and abroad,the main structure of the robot is designed.In this paper,the master-slave surgical robot is devided into two main parts by analyzing the actual operation procedure and operation habit of the doctor: the master side and the slave side.The master side is the master operation handle,the actual operation part of the doctor.The slave side includes the catheter box,the guide wire box,the slave motion platform,and the slave supporting platform.The four parts together finish the surgical operation of the catheter and the guide wire under control of the master side.Firstly,a master operation handle with force feedback function and two degrees of freedom motion detection function is designed according to the practical operation habit of the doctor,and the force feedback characteristic is analyzed experimentally.Secondly,based on the actual movement mode of the operation of catheter and guidewire,a set of catheter robot in the slave system and a set of guide wire robot in the slave system are designed,respectively,to control of the rotation of the catheter and guide wire,and decte the pushing force.And the experiment is designed to analyze its force detection function.Finally,a set of pure mechanical slave system supporting platform with five degrees of freedom is designed for the placement of the slave system in the operating room.It is used to secure the complete set of slave devices and to adjust the pitch of the complete set of slave devices relative to the operating table.