Design And Experimental Research Of Minimally Invasive Vascular Interventional Surgery Robot

Minimally invasive vascular interventional surgery robot, which has the advantages of small operation wound, rapid recovery and less pain, can plan surgical procedures accurately, reduce the intensity of vascular surgeon's work, decrease X-ray radiation to the doctors and reduce the surgical time effectively. This paper designs and deeply analyzes the minimally invasive vascular interventional surgery robot, then carries on the experimental research.First, according to the requirements of vascular interventional procedures and the functions to achieve, localization mechanical arm, catheter manipulator and master joystick, which are three parts of minimally invasive vascular interventional surgery robot, are researched. Through the design of the configuration, joint module, sports and driver program, three parts'virtual prototype are set. On this basis, next step is the design of important parts, and to manufacture the physical prototype.Second, forward and inverse kinematics of localization mechanical arm are analyzed, and the simulation validation of kinematics is taken using the Matlab software. Then analyzing the working space and Jacobian matrix of localization mechanical arm, the figure of working space is drawn based on the Monte Carlo method. The trajectory planning is analyzed using Newton's method, which is prepared for the control of localization mechanical arm.Third, the operation mode of minimally invasive vascular interventional surgery robot is analyzed and simulated. Studying the operation mode of localization mechanical arm which are operated by the six-dimensional force sensor based on torque control method and analyzing the motor process of catheter manipulator which are operated by master joystick. Then analyzing motion simulation of localization mechanical arm based on ADAMS. Finally, the control system of minimally invasive vascular interventional surgery robot are introduced, and the experimental research are carried out, including the end bearing ability and repositioning accuracy experiments of localization mechanical arm. Then positioning accuracy and feeding accuracy experiments of catheter manipulator are tested and the experimental results are analyzed. And the results verify that the surgical robot could accomplish basic requirement of minimally invasive vascular interventional procedures, which is of great guidance, laying the foundation for future research.