Design of a Passive 10-DOF Arterial Puncturing Mechanism for Reducing Radiological Exposure

This paper proposes a new arterial puncturing mechanism that would reduce the radiation exposure for the surgeon. In vascular intervention procedures, a surgeon is usually exposed to a large amount of radiation that is harmful for the surgeon carrying out the surgery on a daily basis. A passive 10-DOF needle and guide wire insertion mechanism consists of 7 DOF articulated arm for positioning and 3 DOF for precise needle insertion. The guidewire can be inserted easily into a small, sterilizable tube attached to the mechanism. To test the feasibility of the device, animal experiment has been performed and radiation exposure has been measured with the help of dosimeter.