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. Minimally invasive vascular interventional surgical robot system includes two parts, the master manipulator and the slave end-effector. With the operation of the system need to map the operation of the main hand to the end effector, to achieve master-slave operation. Based on the graph transformation mechanism, this paper analyzes the operation mapping of the two actions of the robot system to twist and deliver the guide wire. That is, first of all to identify the master operating instructions, and the instructions through the graphics transform to get the corresponding action of the slave end effector, to achieve the master and slave operation and lay the foundation for the realization of interventional telesurgery.

Action Mapping Analysis of Interventional Surgery Robot Based on Master-slave Operation