The Mechanical Design and Control of a Master-Slave Catheter Interventional Surgical Robot

Interventional therapy has become the best way to treat cardiovascular and cerebrovascular diseases due to its advantages over other treatment methods, and has gradually become the "gold standard" for the treatment of cardiovascular and cerebrovascular diseases. In order to obtain higher surgical accuracy and stability, and reduce the doctor’s exposure time under X-rays during the operation. This paper proposes a new type of 3-DOF master-slave catheter interventional surgical robot. The continuum manipulator at the end of the robot can achieve bending in two directions, and accurate positioning of the target point can be achieved. The kinematics, mechanics model and its master-slave mapping relationship were established, and the accuracy of the established model was verified through experiments. In vitro experiments were performed on the left atrium model to verify the feasibility of the system.