Kinematics and trajectory planning of a supporting medical manipulator for vascular interventional surgery

Conventional vascular interventional surgery (VIS) is performed under fluoroscopic guidance by surgeons. In order to reduce X-ray irradiation to the interventional radiologists, catheter operating systems have been developed to assist surgeons. This paper proposed an active supporting medical manipulator, which can neatly adjust and accurately position the catheter operating system. Forward kinematics and inverse kinematics were solved based on kinematics analysis. Quintic polynomial interpolation was adopted in trajectory planning for smooth motion of manipulator. The kinematics and trajectory planning were validated by simulations. Based on kinematics solutions and trajectory planning, experiment showed that the supporting medical manipulator run smoothly and positioned the catheter operating system accurately, which is essential to the safety of medical robot.