中文摘要：

血管介入治疗机器人能有效地保护医生免遭受X射线的辐射,依据血管介入治疗过程中导管的运动需求,设计了一款新的血管介入治疗导管驱动机构。该机构采用丝杆和直线导轨的驱动方式并带有六维力和扭矩传感器,能实时地检测导管在末端处受到的力和扭矩反馈。此外,在橡胶血管模型中进行了血管介入治疗模拟实验,并分析了在模拟实验过程中力和扭矩的反馈信息变化的原因。

英文摘要：

In order to protect physicians from x-ray radiation during the endovascular treatment,the robots provided a promising way. Based on the requirements of catheter movements under conventional endovascular treatment,a new driving mechanism for general catheter was presented. This driving mechanism with real-time force and torque feedback was based on lead screw and lead rail and it can detect real-time force and torque feedback at the end of catheter. Besides,a vitro experiment had also been carried out in rubber-tube vascular model and the result of force and torque feedback was analyzed.