Design of a novel master-slave robotic system for minimally intravascular invasive surgery

A novel master-slave robotic system has been proposed for minimally intravascular invasive surgery. The robotic system is composed of guide wire insertion mechanism with force feedback, catheter insertion mechanism and force feedback device. And the working principle and control system diagram are also introduced. This system can reduce the usage of X-rays, guarantee the safety and efficiency, and help the manipulators to complete the intravascular invasive surgery without change the operating habit.