Design And Research On Intervascular Interventional Surgical Robot

The conventional intervascular interventional treatment not only required high skilled and experienced clinical doctor to carry out the surgery,but also it can’t protect doctors hands and faces from X radiation even when they wear protective suit.As the patients with vascular diseases increase,the difficulty among doctors,patients and surgical environment are becoming much worse.However,the interventional robots provide a promising way to overcome the above shortcomings and also the robots can manipulate the catheter or guidewire more precisely.Therefore it’s been a great significance to develop intervascular interventional robot.First of all,this paper comprehensively introduced the research situation of related endovascular treatment robot around the world and analyzed this intervascular interventional treatment robot system in detail including introducing the surgery procedure of conventional endovascular treatment,analyzing the movement of catheter and guidewire and the related driving mechanism,also research on the method of force feedback collection.Then this papers presented the mechanical structure design of intervascular interventional treatment robot in detail.The driving mechanism can achieve the two degree of freedom movement of catheter,and based on the properties of catheter and guidewire,we designed the catheter support structure to ensure the smooth movement of catheter and guidewire.Besides,according to the characteristic of ATI transducer,we designed the mechanism of collet with transducer to collect the force and torque feedback during the surgical treatment.This collet mechanism can clutch different size of catheter and it would extend the robot application.Based on the design and manufacture of the robotic mechanical parts,we basically completed the assemble and prototype of driving mechanism.And then,based on the force feedback and visual feedback,this paper presented the control strategy on robotic system.And it had completed the design of motor control system and introducer collection system,at the same time this paper finished the related software to control motor movement.Finally,this paper completed the intervascular interventional robotic system integration,including the software to control the catheter’s linear and rotation movement,using the video surveillance to monitor the status of catheter movement,using the introducer to collect the force feedback information.Furthermore,it carried out a vitro experiment in vascular model to achieve the two degrees of freedom movement through the computer operation.And this experiment validated the effectiveness of this intervascular interventional robot and also this paper analyzed the reasons of force and torque feedback during the experiment in detail.