Design of an active locating manipulator for Vascular Interventional Surgery

Abstract

VIS(Vascular Interventional Surgery), an effective method for cardiovascular and cerebrovascular diseases, is performed under fluoroscopic X-ray guidance, to solve the troubles existing in VIS, catheter operating systems have been developed, however, the catheter operating systems are all attached to surgical bed or fixed at the tip of passive manipulator, which is inconvenient to position and adjust catheter operating system. Therefore a robotic surgical system was designed to assist surgeons on manipulating. In this paper, gave the vascular interventional robot system in brief, then the novel 5-DOF active locating manipulator was introduced detailedly on the basis of process analysis of vascular interventional surgery. Considering its application particularity, safety design of the manipulator was mentioned accordingly. Experimental results showed that the fully-active locating mechanical manipulator has multiple advantages such as novel structure, flexible control, high locating precision compared to conventional mechanical manipulators. The development of this medical robot system with active locating mechanical manipulator contributes to the promotion and popularization of the vascular interventional surgery in clinics.