Clinical training technology for vascular interventional surgery robot system based on master-slave expansion

To promote the popularization of the intravascular intervention surgical robot system, a new training technology based on real surgery was proposed. Thanks to the master-slave mode, much more than one trainee can be trained on line by expanding devices for feeding back force. An authority matrix was established to manage all trainees´ control upon the movement of a catheter, which enhanced their active participation in a real vascular interventional procedure, taking account of the safety. All lead to an effect that the catheter is grasped by multi surgeons at the same time, and because of the completely real operation environment, the quality and efficiency of the training are dramatically improved by sharing the same images, forces and experience among trainees.