Development of a Slave Manipulator for Vascular Interventional Surgery Robotic System

Vascular interventional surgery robots can effectively improve the doctor’s operating environment and interventional accuracy. However, the current vascular interventional surgery robots cannot quickly exchange the catheters/guidewires and lack the design of the force detection structure, which causes trouble for the actual robot to go to the clinic; This paper presents that a developed slave manipulator can effectively solve the above problems. For the force detection, this paper analyzes the influence of the materials of the catheters and guidewire on the axial force; for the proposed slave manipulator, the unique functions of the slave manipulator are introduced; the theory of using flexible materials to clamp and rotate a catheter is developed; the dynamic modelings of translation and rotation of the proposed developed slave manipulator are established separately. These will have laid a foundation for developing this kind of vascular interventional robot.