Research on motion signal capture accuracy of master manipulator for vascular interventional robot

Abstract

With the promoting popularization of vascular interventional surgery (VIS), the demand for the corresponding robot aided system arises spontaneously. In order to train interns, and make them faster qualified for clinical surgery, we develop and produce a master manipulator of vascular interventional surgical robot according to operational requirements in this paper. While accuracy is one of the most important indexes to evaluate a robotic auxiliary system, we have to test it before comprehensive application. The accuracy is mainly influenced by signal's transmission since the signal in the system has to go through several links which may have distortion due to reasons such as defect of mechanism, slip of wheels, etc. Thus we must carry on an experiment of testing motion signal, including displacement and rotation from doctors transmitted to the master manipulator, and analyze the results to verify master manipulator can accurately capture motion signals of doctor's hand. Above all, in order to eliminate error accumulation, we would establish error model, through which we can get an error scope at diverse displacement to furnish whole system's error compensation with this model which is of great important to improve accuracy of device and ensuing activities of project for virtual training system's design.

Keywords

• vascular interventional robot
• master manipulator
• signal capture
• accuracy experiment
• error model