Calibration and operation of a positioning robot used for minimally invasive vascular interventional surgery

Abstract

This paper presents the calibration and operation modes of a positioning robot used for minimally invasive vascular interventional surgery. Firstly, the constitution of positioning robot, the calibration method using an absolute encoder and the operation method using a six-dimensional force sensor are described. Then, the operation mode is proposed based on a six-dimensional force sensor, which includes the force signal transform of the six-dimensional force sensor, the calculation method of the end position of the positioning robot obtained by the six-dimensional force sensor, and the inverse kinematics of the positioning robot. Finally, the experiment is conducted and the experimental results demonstrate the proposed method is effective, safe, and reliable and has a potential application, which provides a good supporting case for the HAM framework.