Mechanism design of a medical manipulator for Vascular Interventional Surgery

VIS (Vascular Interventional Surgery) is an effective method for Cardiovascular and Cerebrovascular disease. There are difficult problems such as surgical complexity, poor controllability and long irradiation time for conventional VIS. Catheter operating systems have been developed to solve these problems. However, the catheter operating systems are all attached to surgical bed or fixed at the tip of passive manipulator, which is inconvenient to adjust. A novel medical manipulator was designed to adjust catheter operating system. In this paper, the mechanism design of 5-DOF Active Support Medical Manipulator (ASMM) was introduced in detail. Experimental results showed that ASMM has multiple advantages such as novel structure, flexible control, and high positioning precision, which facilitate the control of catheter operating system in clinical teleoperating.