Structure design and master-slave control system of a vascular interventional robot

Conventional vascular interventional surgery (VIS) is performed under fluoroscopic X-ray guidance. Catheter operating systems have been developed to reduce physical stress and X-ray irradiation. However, the catheter operating systems are all attached to surgical bed or fixed at the tip of passive manipulator, which is inconvenient to position and adjust catheter operating system Furthermore, traditional control systems can´t satisfy clinical requirements of radiation protecting. Therefore, a novel Active Supporting Medical Manipulator (ASMM) was developed to accurately position and firmly hold catheter operating system and master-slave control system was adopted to protect surgeons from X-ray exposure. In the paper, the structure of ASMM was synthesized and optimized. Master-slave control system structure was proposed and implemented based on vascular 3D reconstruction after digital subtraction angiography (DSA) image correction. Finally, experiments showed the validity of optimized ASMM and feasibility of robotic system with master-slave control system.