Title: The master-slave catheterisation system for positioning the steerable catheter

Authors: Yili Fu; Anzhu Gao; Hao Liu; Shuxiang Guo

Addresses: State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin Heilongjiang 150080, China. ' State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin Heilongjiang 150080, China. ' State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin Heilongjiang 150080, China. ' State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin Heilongjiang 150080, China; Department of Intelligent Mechanical Systems Engineering, Kagawa University, Hayashi-cho, Takamatsu 761-0396, Japan

Abstract: This paper proposes a master-slave catheterisation system including a steerable catheter with positioning function and an insertion mechanism with force feedback. The steerable catheter is integrated with two magnetic tracking sensors for positioning. The distal shape of catheter is displayed with virtual vascular model to generate 3D guiding image to provide the relative relationship between the catheter and its surrounding vessels. The master-slave insertion mechanism with differential gear structure is designed with force feedback to assist surgeons to manipulate the catheter. It can implement pulling/pushing, rotating and bending/recovering the catheter. Based on this system, surgeons in the control room can utilise the master handle to operate the insertion mechanism for positioning the distal end of catheter with the assistance of 3D guiding image. The stability and accuracy of the system is validated in-vitro.

Keywords: master-slave catheterisation system; steerable catheters; insertion mechanisms; force feedback; magnetic tracking sensors; positioning assistance; vascular modelling; 3D imaging; guidance images; differential gears; surgeons; surgery.

DOI: 10.1504/IJMA.2011.045271

International Journal of Mechatronics and Automation, 2011 Vol.1 No.3/4, pp.143 - 152

Available online: 01 Feb 2012 *

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