A Novel Vascular Interventional Robot for Cardiac Ablation Surgery

In recent years, force sensing and drive control at the distal end of ablation catheters have attracted widespread interest from scholars around the world. Among them, the challenge of high-precision operation of ablation catheters has attracted much attention. To address this problem, this study proposes a non-fixed modular ablation catheter clamping and pushing mechanism. The mechanism is based on a non-fixed modular design, aiming to avoid common under-clamping sliding errors in catheter operations, and achieves effective separation of the robot body and surgical instruments, allowing the ablation catheter to be quickly replaced and asynchronously sterilized. In addition, we conducted a modal analysis of the clamp-push structure, and the results showed that the modal frequency of the clamp-push structure is very low, so the catheter is not susceptible to the resonance effect of external excitation when it is pushed. This innovative design aims to further improve the accuracy, safety and intelligence of the vascular interventional surgical robot, providing reliable support for the success rate and safety of ablation surgery.