Structure synthesis and optimization of a supporting medical manipulator for vascular interventional surgery

Conventional vascular interventional surgery (VIS) is performed by surgeons under fluoroscopic X-ray guidance. Catheter operating systems have been developed to reduce physical stress and X-ray irradiation to the interventional radiologists. However, the catheter operating systems are all attached to surgical bed or fixed at the tip of passive manipulator, which is inconvenient to adjust the position and orientation of catheter operating system. Therefore, a novel active supporting medical manipulator was developed to accurately position and firmly hold catheter operating system. The structure was synthesized and optimized according to the clinical VIS requirements. The mechanism was designed and kinematics was analyzed. Finally, the simulations and experiments showed the feasibility of the active supporting medical manipulator, which facilitate the control of catheter operating system in clinical teleoperating.