Design and Control of Single-Instrument Master-Slave System for Vascular Interventional Surgery

Abstract

The penetration of commercial interventional robots into primary healthcare remains bottlenecked by prohibitive costs, spatial bulk, and intricate operability. To overcome these barriers, a footprint-reduced and economical robotic platform was designed in this work. Structurally, the execution-end utilizes a modular layout covering clamping, rotation, linear delivery, and support. Moving away from standard parallel roller grippers, the system adopts an industrial ER spring collet mechanism to grasp surgical instruments. Nut-driven radial contraction of the collet secures guidewires and catheters reliably. Through swapping collet sizes accommodates varying instrument profiles without hardware overhaul. The overall mass is kept under 6 kg within a pretty compact size envelope by pairing ABS with aluminum alloys. The input for User interaction is stripped down to a basic 16 membrane keypad enforcing a direct logic of "press-to-actuate, release-to-halt". Bench testing against a cardiovascular phantom yielded maximum relative deviations of 1.25% for linear feed and 2.69% for rotation movement, alongside zero mechanical stalling over a 20-minute composite motion trial. These experiments confirm that proposed system has ability to achieve clinical-grade precision for the robot-assisted vascular interventional surgery in medical facilities.