Design a New Control Method for Vascular Interventional Surgery

Vascular Interventional surgery (VIS) is the main method for diagnosis and treatment of endovascular diseases. However, the surgeon operates the surgery with hands in conventional VIS, which need the surgeons exposed to X-ray radiation with long time. The operation of the Vascular Interventional Surgery is long time processing, which will lead to fatigue of the doctor and the patient, and the doctor's attention will be reduced. The using of robotic catheter system can solve these problems effectively. To solve the issues in related researches, this paper researches on vascular interventional catheter robot system with the consideration of ergonomic. And a novel master-slave robotic catheter system was designed. The master side used to measure the axial and radial motions of input catheter and the slave side used to implement to patients. The axial operation force and radial torque of the slave manipulator were acquired and transmitted to master side as the basis of force feedback device. Through the control system and the corresponding control strategies, on both sides of the master-slave can achieve the ideal effect of synchronization. Compared to traditional surgery, the robotic catheter system can not only achieve the same effect but also can realize remote surgery operation.