Parametric modeling and experimental analysis for interventional surgery robots

Abstract

Minimally invasive surgery is a main treatment in vascular diseases, with the advantages of painless and complication reducing for patients. In a vascular operation, the guide wire is driven to the lesion with catheter. However, the success of surgeries largely depend on surgeon’s experience. Therefore, it is necessary to study the interaction between the guide wire and the catheter to secure the precise and effective locating of the robot. It is required to study the intravascular mechanics and the dynamic behaviors of the guide wire and catheter. There are various difficulties when catheter is used in blood vessels, such as the material flexibility, vessel elasticity and its bifurcation. Experiments were designed to overcome these difficulties in this paper. A relationship of the rotation angles between the proximal and distal end of the guide wire has been found through the curve fitting, which would provide experimental evidence for surgeons.