I. Introduction
In recent years, the incidence of vascular diseases has been increasing, which has become the number one killer threatening human health. Nowadays, vascular interventional surgery (VIS) is regarded as an effective way to treat vascular diseases, which has the characteristics of microtrauma and quick postoperative recovery. The general procedure of the VIS is that the surgeon delivers medical flexible instruments, such as guidewires and catheters, to the patient’s lesion for diagnosis and treatment. The main operational behaviors of the surgeon include push, pull and rotation. However, VIS is performed under the guidance of the digital subtraction angiography imaging, and even the surgeon wearing the protective suits cannot completely avoid the X-ray radiation. People exposed to the X-ray radiation for a long time are prone to cancerous tumor, eye, and bone diseases [1]–[3]. To avoid the X-ray radiation, the robot-assisted VIS combined with medical, and engineering has become a research hotspot. Unlike the traditional VIS, the robot-assisted system for VIS integrates the robot technology, sensor technology, control technology and image technology, which effectively protects the surgeon from the X-ray radiation and greatly improves the accuracy and safety of operations.