本项目针对制约血管微创介入手术发展的血管内介入器械运动规律复杂、对医生操作技能要求高、医生辐射累积大、缺乏手术导航的问题，深入开展面向血管介入手术机器人的介入器械-组织-血流的复杂相互作用、高透明性的人机交互机理、多模信息融合配准的手术导航、基于高级医生操作技能的学习方法、机器人手术评估等基础研究工作。拟重点解决介入器械操控的非完整系统建模、力/力矩的实时测量-反馈、体内介入器械实时追踪、高级医生操作技能的分类和获取、自主递送的规划和控制等基础科学问题。项目研究围绕两条研究主线：基于主从操作的递送和自主递送。构建集成验证系统与临床应用环境，开展活体验证试验，建立血管微创介入机器人手术的评估方法，为后续应用系统的研发提供技术验证平台。项目研究成果将为微创血管介入手术机器人的发展提供理论基础和关键技术，提高血管微创介入手术的治疗水平。

The wide application of minimally invasive vascular surgery is limited by some theoretical and engineering problems, such as, the difficulty of modelling the interaction between surgical instruments and blood vessel, high requirements for medical doctors, lack of effective safety solution for doctor to avoid radiation damage and the absence of image guided navigation, which are all urgent for us to solve these problems. This proposal mainly focuses on how to model the interaction of instruments-vessel-blood flow, how to achieve highly efficient master-slave manipulation, how to navigate in interventional procedure, how to adopt the experience of expert into the surgical robot, and how to evaluate the effectiveness of the surgical robot. This proposal aims to find out a way to model the surgical instruments, measure the force/torque during guide wire advancing and feed it back to remote doctor, real time track the tip’s location in blood vessel, acquire the manipulation skills from experienced doctors, and achieve autonomous guide wire delivery. The proposal is discussed around two main topics, one is how to realize highly efficient master-slave manipulation, and another is how to make the surgical robot smart enough to automatically advance surgical instruments to lesion site of blood vessel. A surgical robot will be developed to verify the effectiveness of this research by animal trials, then evaluation parameters of this kind of surgical robot will be established. The achievements of this research will promote the development and application of surgical robots in vascular intervention.