Flexible Belt Constrained Catheterization Robot

Currently, vascular interventional technology is the most effective method for treating cardiovascular and cerebrovascular diseases. Research on vascular interventional robotic technology has become a popular topic. This article proposes a catheterization robot based on two flexible belts constraint, the flexible rod such as catheter, guidewire or balloon can not only be constrained by the flexible belts, but also achieve its purpose of being transported through the interaction force with the belts. Through setting comparative experiment, the results indicate that the proposed catheterization robot in this article meets the relevant usage requirements, and it can also realize the long-stroke transportation of the flexible rod, the delivery error is within 2.0 mm, and the rotation angle error is within 2.0°.