A Reciprocating Delivery Device-Based Endovascular Intervention Robot With Multimanipulators Collaboration
Sheng Cao, Shuxiang Guo, Jian Guo, Jian Wang, Yongxin Zhang, Yongwei Zhang, Pengfei Yang, Jianmin Liu
Abstract
The cardio-cerebrovascular disease is a significant disease that can directly threaten life and health. Vascular intervention surgery is currently the mainstream treatment method. This kind of surgery requires doctors to be exposed to radiation for a long, with extensive body damage. In response, domestic and foreign researchers began to develop endovascular intervention surgery robots. Although the robot has specific additional capabilities, it is still in the research and development stage. It must continuously improve performance, reliability, and functionality before it can be used in interventional surgery. Therefore, to further reduce doctors’ learning and training costs, optimize the operation steps in surgery, and improve delivery accuracy, we developed a reciprocating delivery device-based endovascular intervention robot with multimanipulators collaboration. The third-party type test confirmed that the robot’s feasibility and overall performance meet the surgery’s needs (average linear accuracy is less than 0.1 mm). In vivo experiments have demonstrated the efficacy, safety, and reduction of radiation exposure to doctors (nearly 98.68%).