Design and Performance Evaluation of Interventional Surgery Robot System

At present, interventional surgery is widely used in the treatment of patients with advanced liver cancer. Using a robot to complete interventional surgery can greatly reduce the operation burden of doctors and avoid the influence of radiation. However, the interventional surgery robots still lack some functions. The focus is how to make robots complete more operations of interventional surgery. In this paper, an interventional surgery robot system was designed to independently drive the movements of the guide wire and catheter. The separated design of the driving unit improved the practicability of the interventional surgery robot. The drug injection device can enable doctors to inject drugs outside the operating room, and the designed master controller can realise the function of force feedback. Experimental results showed that the delivery accuracy of the guide wire is less than 0.1 mm, and the validity of the master–slave control is verified. The designed interventional surgery robot system can complete the whole surgical process and meet basic clinical needs.