Roller Design of the Delivery Mechanism of the Novel Endovascular Intervention Robot

This study introduces a novel endovascular intervention robot, especially the delivery mechanism. It is a master-slave robot based on the finger delivery movement of the doctor and developed by the principle of bionics, which can realize the simultaneous translation and rotation motion. The roller design, including the structure and material, is very significant to realize the guidewire delivery function. The delivery mechanism’s mechanical structure and working principle are introduced first in this paper. Secondly, based on the appropriate constitutive model of rubber, the finite element method is used to analyze the influence of the rubber material property on the contact behavior and the friction-based driving force. We propose the indicators to evaluate the delivery performance of the robot. Finally, the simulation results provide an essential reference for selecting the proper outer material for the roller.