Cardiac and cerebrovascular diseases (CVDs) are the “No. 1 killer” jeopardizing human health around the world. Vascular intervention is currently an important treatment for CVDs. Compared with traditional open surgery, this procedure has many advantages such as small operation wound, less pain and it can substantially reduce patients' hospitalization time, etc. With the rapid development of robotics, it becomes possible to apply minimally invasive surgical robot for vascular interventions into medical clinic. This kind of surgical robot can accurately plan surgical procedures, reduce the X-ray bodily damage to medical professionals and surgeon's work intensity. The research and development of minimally invasive surgical robot for vascular interventions is of great significance in promoting the development of our medical robots and it can accelerate the development of the surrounding interdisciplines. This work is supported by the National Hi-Tech R&D Programs (863): “minimally invasive cardiovascular interventional surgical robot” (Grant: 2009AA044003) and “research on minimally invasive vascular interventional surgical robot” (Grant: 2010AA044001). This dissertation mainly focuses on some key issues, such as robot system design and interactive control, etc. Firstly, according to the requirements of vascular intervention procedures and considering security, the overall structure of minimally invasive vascular interventional surgical robot system is designed, and the required functions each part needs to implement are planned. The designed catheter manipulator can be sterilized. The force applied to the guide wire can be measured real-time due to the delicate design of catheter manipulator. This greatly helps guarantee patients' safety during vascular intervention. Secondly, by using Denavit-Hartenberg framework method, the coordinate frames of joints have been established. And based on these frames, the forward and backward kinematics of the 5-DOF robot arm is studied. A software which helps people analysis the kinematics of robot is developed in this paper. Thirdly, a robot arm compliant control algorithm is proposed. This algorithm accumulates the generalized force applied to the 6D force sensor during the time interval of sampling. Under some minor assumption, and using Euler's integrate method, the desired value of each joint is derived. This algorithm makes the catheter manipulator mounted on the end-effecter of robot arm adjust according to...
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