Development of Collaborative Clamping Devices for a Vascular Interventional Catheter Operation

Increasingly high incidence of cardiovascular and cerebrovascular diseases, which has become one of the three major causes of human disease death, because of its high incidence, disability, and mortality, it brings tremendous mental stress and heavy weight to individuals, families and society economic burden. Vascular interventional technique is a newly developed treatment for prevention and treatment of cardiovascular and cerebrovascular diseases. Under the guidance of medical imaging, the doctor enters the lumen of the blood vessel through the catheter directly to the blood vessel of the lesion in the body, and then uses the catheter to transport the therapeutic agent or surgical instrument. Minimally invasive diagnosis and treatment of distant lesions in the body. Therefore, it is critical to accurately and stably deliver the catheter to the designated location. This paper proposes a reciprocating towed slave robot, which mainly includes four degrees of freedom: linear motion, torsional motion, catheter front clamping release, and catheter end clamping release. The catheter motion operation is achieved by the four degrees of freedom of the end robot. And the linkage is released by the clamping of the front of the catheter to achieve the operation of transporting the catheter to a further destination. This method was demonstrated to meet clinical operational requirements by experiments in a simulated vascular model.