An active medical supporting manipulator and experiments for vascular interventional robot

In this paper, a new medical robot for vascular interventional surgery (VIS) has been proposed, which can be used for assisting surgeons in the vascular interventional operation and training unskilled surgeons to do the operation. The robot includes a 5-DOF Active Supporting Medical Manipulator (ASMM) and a 2-DOF catheter operating system. Considering its application specially, safety design of the robot are also mentioned and quintic polynomial interpolation is adopted in trajectory planning for smooth motion of manipulator. Based on structure analysis and trajectory planning, experiment showed that the active supporting manipulator run smoothly and positioned the catheter operating system accurately, which is essential to the safety of medical robot. The development of this medical robot system contributes to the promotion and popularization of the VIS in clinics.