Design of coaxial intervention catheter robot for Endoscopic Retrograde Cholangio-Pancreatography

Due to the high incidence of biliary and pancreatic diseases. ERCP (Endoscopic Retrograde Cholangio-Pancreatography) is widely used as an effective method Or treating biliary and pancreatic diseases. However. the location of biliary and pancreatic diseases is special, and the currently used ERCP surgical instruments are not flexible enough to make the intubation process difficult and cause damage to human tissues. This paper presents a new type of coaxial catheter intervention rohot, which is composed of a flexible mechanical arm, a driving mechanism. and a guide wire conveying mechanism. The robot is coaxially transported to the nipple through the duodenoscope. which can provide the doctor with a clear surgical field of vision. The 2-degree-of-freedom flexible manipulator can bend in four directions, so that the direction of the catheter is as consistent as possible with the axis of the cholangiopancreatic duct, thus simplifying insertion Tube process. After the prototype was manufactured, the biliary and pancreatic duct model intervention experiment was carried out The experiment verified the feasibility of the flexible robot system. The experimental results showed that compared with manual intubation, the efficiency is higher and the operation difficulty is lower.