A Novel Design of Grasper for the Interventional Surgical Robot

In the interventional surgery, the catheter guide wire advancing and position accuracy is very important for the success rate and safety of the operation. In our newly developed vascular intervention surgery robot system, the slide unit of catheter and guide wire which provide the movement has a very big improvement space. In this paper, we proposed a gripper for holding a guide wire of a catheter. When slide reaches the movement limit and need to move backward, it will hold the guide wire to prevent it from retreating and affect the safety and accuracy of the experiment. The performance evaluation experiments of the novel grasper were done. The experimental results show that the grasping clamp effectively clamps the catheter to improve the accuracy of the operation and can meet the design requirements.