Design of a Catheter Operating System with Active Supporting Arm for Vascular Interventional Surgery

VIS (Vascular Interventional Surgery), an effective method for cardiovascular and cerebrovascular diseases, is performed under fluoroscopic X-ray guidance, to solve the troubles existing in VIS, catheter operating systems have been developed, however, the catheter operating systems are all attached to surgical bed or fixed at the tip of passive manipulator, which is inconvenient to position and adjust catheter operating system. Therefore, a new 2-DOF tele-operating catheter system with 5-DOF active supporting arm for medical applications was developed in this paper on the basis of process analysis of VIS, furthermore, a safety control system designed in order to insure the safety of the whole system. Experimental results showed that the supporting arm run smoothly and positioned the catheter manipulator accurately.