Research On Minimally Invasive Vascular Interventional Surgery Robot System

The global cardiovascular disease treatment is facing a severe situation.Among many cardiovascular diseases,coronary heart disease suffers the most.The most popular treatment for coronary heart disease is coronary interventional surgery.Coronary interventional surgery does not require thoracotomy,so it has the advantages of small wounds and quick recovery.However,during the operation,the digital vascular imaging system uses X-rays as the imaging mechanism.Medical staff are exposed to high-radiation harmful ionization environment for a long time,and the probability of suffering from occupational diseases such as brain tumors and cataracts is greatly increased.The emergence of minimally invasive vascular interventional surgery robots solves the above problems.In robot-assisted minimally invasive vascular interventional surgery,vascular interventional robots can replace the surgeon on the operating table to deliver catheters,guidewires and other interventional instruments into the patient's body,saving the surgeons received X-ray radiation in the cath lab.However,due to the complexity of the human environment and surgical scenes,surgical robots still have a certain gap compared with surgeons in terms of delivery accuracy and flexibility.Therefore,it is necessary to study the operating strategies of minimally invasive vascular interventional surgical robots.In this thesis,aiming at the problems of minimally invasive vascular interventional surgery robots,research is carried out around the operating strategies of minimally invasive vascular interventional surgery robots.The main work and innovations of this thesis are as follows:(1)This thesis summarizes the current situation and main treatment methods of cardiovascular disease for minimally invasive vascular interventional surgery robot mechanical structure are introduced in detail,analyzed the motion relationship between delivery device and interventional devices,surgical robot was designed and implemented the axial translation function,and based on the development of the surgical robot operating interface.(2)Through a large number of comparative experiments,the guidewire delivery performance of the vascular interventional surgical robot under different motion states is fully evaluated.Under different speeds and accelerations,the average root mean square error between the actual axial motion and the ideal axial motion of the minimally invasive vascular interventional surgery robot is 0.72 mm and 0.74 mm respectively.(3)In this paper,the experimental results of guidewire delivery are analyzed by various statistical analysis methods,and the error factors affecting the experimental results are discussed from various aspects around the practical application scenarios.It is revealed that the guidewire speed is the key factor restricting the further reduction of delivery error.The robot operation strategies of surgeon in different stages of minimally invasive vascular intervention surgery are studied,It provides a valuable reference for the operation of surgical robot in vascular interventional surgery.