Study On A Cable-driven Interventional Active Catheter

The minimal invasive interventional micro-robots have become a hot research direction in the field of international medical device industry. Catheter interventional surgery is getting greater application in vascular surgeries. The technique allows reducing patient wound, shortening recovery time, and reducing cost. Owing to the poor activity of traditional catheters which cause the difficulty in operation and a mass of blind areas, this paper proposes a new interventional cable-driven active catheter with external driving module. Active interventional catheter driven by cable with external driving module, allows reducing weight and size of the control terminal, enhancing load capacity, and being easy to micromation. Analyzed the design requirements of interventional catheter, the three-dimensional solid model of international catheter and cable driven mechanism are established in the soft environment of Pro/Engineer.D-H parameter method and analytic geometrical method were used to establish the forward and inverse kinematics models. Based on the kinematics models, the solution and analysis of the forward and inverse kinematics have been done, then analyzed and calculated the workspace of catheter’s each joint.The trajectory planning of catheter’s each joint is designed, and then extended to the trajectory planning of the whole interventional catheter system. A new algorithm on planning trajectory in the simulation vascular is devised. Control system of the interventional cable-driven active catheter was designed.The process of active catheter passing through the fork has been simulated. Manufactured the physical prototype of the active interventional catheter, and based on the simulation analysis, a experiment is done on the catheter prototype. The results showed that the position and orientation of this active catheter can be adjusted expectedly and efficiently, that means the design proposal of the active interventional catheter driven by cable and the mathematical model is feasible and correct.