Design of propulsion mechanism for vascular interventional operation robot

Abstract

Minimally invasive surgery has advantage of reducing the size of the body's trauma, post-operative pain and length of hospital stay. This paper proposes a new type of propulsion mechanism that can simulate the specific operations of human hands in vascular interventional procedures. We conducted detailed structural design and analysis of this propulsion mechanism so that the device can perform the function of delivering the catheter and guide wire simultaneously or separately. The new device allows for easy disassembly of the catheter or guide wire and meets the requirements for real-time monitoring of catheter and guide wire delivery resistance during vascular interventional procedures. The advancing mechanism can assist the doctor in completing the basic operations of the vascular intervention surgery and reduce the surgical intensity of the doctor.