Aiming at the advantages of interventional surgical robot system in flexibility, safety and accuracy, a compact continuous delivery catheter drive mechanism for interventional surgical robot is designed and its structure is optimized and analyzed. Firstly, the structure analysis of the axial feed part and the circumferential rotation part of the catheter drive mechanism is carried out to ensure the flexibility and accuracy of the mechanism. Secondly, a solution to the problem of difficult disinfection of the catheter drive mechanism is proposed, and its safety is improved by improving the structure. In addition, the catheter clamping mechanism has been improved to enhance the stability and handling performance of the mechanism. Finally, the kinematic performance of the mechanism is analyzed and evaluated in detail and verified by experiments.
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Cao et al. (2024) studied this question.
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