Design and Analysis of Macro-micro Combined Catheter-guided Robot for Vascular Interventional Surgery

In this paper, according to the low positioning accuracy of vascular interventional surgery and the large demand of experienced surgeons, we design a macro-micro combined catheter-guided robot to assist catheter intervention. The vascular interventional robot has micro module at the end of the actuator, which is consisted of flexible hinge and parallel double plate mechanism. The micromotion module can help implement micro movement and adjust the displacement offset caused by twisting process of the catheter. Kinematics analysis of the proposed interventional surgical robot was performed, and the work space analysis of the catheter was accomplished using the quintic polynomial method. Finally, to verify the feasibility of the robot, finite element analysis of the terminal micromotion module of the surgical robot was performed. It has been shown that the mechanism of the surgical robot has good statics and kinematics characteristics.