Mechanism design and force sensing of a novel cardiovascular interventional surgery robot

Robotic-assisted cardiovascular interventional surgery is an effective means to reduce the exposure of X-ray radiation to surgeons. However, some of the existing design structures cannot meet the surgical requirements for the coordinated delivery of multiple instruments or lack force sensing function.This article proposes a novel cardiovascular interventional surgery robot, which is in line with the operating habits of surgeons. Meanwhile, the force sensing function is integrated under the premise of satisfying the smaller size.Experimental results show that the proposed cardiovascular interventional surgery robot can quickly and accurately deliver multiple surgical instruments. Furthermore, it can accurately measure the force and torque experienced by the guidewire during the delivery process, which conforms to the derived dynamic model.The results demonstrate the effectiveness of force sensing and indicate the promise of the presented master-slave robotic system for cardiovascular interventional surgery.