Preliminarily Design and Evaluation of Tremor Reduction Based on Magnetorheological Damper for Catheter Minimally Invasive Surgery

To avoid the impact of radiation on surgeons during catheter minimally invasive surgery, vascular interventional surgical robots are commonly developed and used. However, when a surgeon operates with tremor, the operational accuracy will be seriously affected. In this paper, the tremor suppression is introduced into the robot-assisted invasive surgery to reduce the surgeons' tremor. A novel method using magnetorheological damper is proposed, and its performance is preliminarily evaluated by simulation. The simulation results show that it can reduce tremors effectively. This method can not only improve the accuracy of operation but also extend the professional career of surgeons.