Study on the Tremor Elimination Strategy for the Vascular Interventional Surgical Robot

For interventional vascular surgery, which requires a high degree of accuracy, any minor error could lead to the failure of the operation. High stressful operation environment leads to hands’ tremor of doctors, which is fatal to patients. A recognition and elimination strategy for hands tremor was proposed. Hands’ tremor was divided into two types, the first type is normal physiological tremors and the second type is stress tremor. First, we used the regularity of normal physiological tremor to identify and eliminate it. Secondly, according to the safe contact force index in vascular interventional surgery, the safe acceleration of the robot was obtained by using Newton’s second law. Stress tremor was identified by comparing actual acceleration with safe acceleration. The effectiveness of the strategy was verified by experiments in which multiple operators simulated the operation of doctors. Experimental results show that the tremor elimination strategy has better performance.