沈阳航空航天大学学报2026，Vol.43Issue(1)：33-40,8.DOI:10.3969/j.issn.2095-1248.2026.01.005
血管介入手术机器人从端机构设计
Design of slave mechanism for vascular interventional surgery robot
摘要
Abstract
In order to solve the problems of large volume,limited travel and aseptic isolation requirements of vascular interventional surgery robot,a slave mechanism of vascular interventional surgery robot imitating doctor's action was designed.The bionic finger-based mechanism enabled unrestricted continuous delivery and rotation of guidewires/microcatheters,simultaneous rotation and delivery of guidewires,and adjustable clamping distance and force and the modular design was utilized to achieve the isolation of sterile/non-sterile operation areas.A three-dimensional model of the mechanism was developed,and the design structure was analyzed kinematically to establish its kinematic equations.The rationality of the design was validated through simulation analysis.Experimental studies were conducted to investigate the positioning accuracy of guidewire delivery.Results indicate that the mechanism achieves a positioning error within from-0.5 mm to 0.5 mm under static conditions,enabling precise delivery of guidewires.This performance meets the clinical requirements for vascular interventional surgery robot.关键词
血管介入/手术机器人/从端机构/运动学/模块化设计Key words
vascular intervention/surgcry robot/slave mechanism/kinematics/modular design分类
信息技术与安全科学引用本文复制引用
于苏洋,唐蓉,李蒙,王颖,叶长龙..血管介入手术机器人从端机构设计[J].沈阳航空航天大学学报,2026,43(1):33-40,8.基金项目
辽宁省教育厅科研项目(项目编号:LJ222410143019,LJ232410143015). （项目编号:LJ222410143019,LJ232410143015）
