| Due to the advantages of minimally invasive, high sucurity, painless, quickrecovery and fewer complications, minimally invasive surgical has been recognized asan important means of treating cardiovascular disease in modern medical field. Thedevelopment of minimally invasive surgical techniques will inevitably bring theresearch boom related to surgical robotics. In allusion to the diagnosis and treatment ofcardiac vascular embolism, this paper develops a minimally invasive surgical robotsystem based on viewing a large number of related literatures. The complianceoperation of the passive position arm and the master-slave control of the propulsivedevice are analyzed. At last, some related experiments are given.First, the pathology of vascular thrombosis, the existing therapeutic methods andthe operational process of surgeons are given and analyzed. Based on the analysis, thedesign requirements of the surgical robot system are proposed, and every componentsof the system are given.Second, the mechanical structure of the main two parts (the positioning arm andthe propulsive device) of the system are designed and analyzed. The technicalparameters are given. Combining the advantages and disadvantages of active andpassive positioning arms, two schemes are given. One is an active arm, and the other isa passive arm. The self-locking method of the passive arm is using one brake to lockmulti-joints to avoid cumulative gap. A novel catheter/guidewire propulsive device isdesigned to imitate human actions. This device can realize catheter, guidewire, bolloonand stent delivery, cleaning, disinfection, manual intervention, and force detection.Third, the manipulation method of the active positioning arm is analyzed. Acomplicance operation with the help of a six-dimensional force sensor is designed. Thesensor read the operate intention and translate it into a six-dimensional signal. Thentranslate the signal into the motion commands of every joint’s motors of the arm todrive them move. This way of manipulation can effectively avoid the settledprogrammable control mode and it is an user-friendly operation way in line. Then, a master-slave system is given. The propulsive device can be manipulatedoutside the operating room. That can greatly reducing the radiation to doctors duringsurgery and the labor intensity of the doctors. The function of force feedback isdesigned and analyzed to realize force telepresence to enhance system reliability.At last, an experimental platform is set up to verify the operability of the activearm, the precision and reliability of the propulsive device, and the reasonability andfeasibility of the whole robot system. Animal vascular interventional surgeryexperiments are given. The results indicate the system designed can assist doctorcompleting the expected vascular interventional surgery. |
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