A Novel Clamping Mechanism Design for Vascular Interventional Surgery Robot

Abstract

The application of vascular interventional surgery robots (VISR) can protect doctor from radiation effectively. However, the use of vascular interventional surgery robots (VISR) is still subject to some limitations. One of the limitations is that the inconsistency of the master-slave structure leads to the complexity of the entire robot structure. Another limitation is that the operation method of the master manipulator is different from the vascular interventional surgery, which makes it difficult for doctors to use their surgical experience. In this paper, a novel clamping mechanism was proposed. It can be used on both the master side and the slave side with the same structure and the operation methods on the master side is the same as that of traditional surgery. It means that the robot will have the consistency of master-slave structure by using the proposed clamping mechanism, which is advantageous for simplification of robot structure. In addition, a better surgical presence can also be provided to doctors during operation.