Bronchoscopic Interventional Surgery Robot which Constrained by a Shear-Fork Mechanism

To ease the workload of bronchoscopy doctors, reduce the risk of both patients and doctors, and improve the accuracy and flexibility of bronchoscopy and biopsy, in this paper, a kind of bronchoscope interventional robot which constrained by shear-fork mechanism is designed, and the model simulation test is carried out. Based on the full analysis of the operation essentials and techniques of doctor's mirror feeding and biopsy sampling. The interventional robot includes hardware platforms such as operating handle, shear-fork constraint mirror feeding mechanism, upper computer, and so on, cooperating with master-slave control mode, the flexible transportation of the bronchoscope in straight line and rotation, the transportation of the biopsy forceps in a straight line and the opening and closing of the forceps were realized. The validity of the model is verified by the model experiment on the human trachea simulation model.