Title: A novel robotic catheter system with force and visual feedback for vascular interventional surgery

Authors: Jian Guo; Shuxiang Guo; Nan Xiao; Xu Ma; Shunichi Yoshida; Takashi Tamiya; Masahiko Kawanishi

Addresses: Department of Intelligent Mechanical Systems Engineering, Kagawa University, 2217-20 Hayashi-cho, Takamatsu, Kagawa, Japan. ' Department of Intelligent Mechanical Systems Engineering, Kagawa University, 2217-20 Hayashi-cho, Takamatsu, Kagawa, Japan; Harbin Engineering University, 145 Nantong Street, Harbin, Heilongjiang, China ' Department of Intelligent Mechanical Systems Engineering, Kagawa University, 2217-20 Hayashi-cho, Takamatsu, Kagawa, Japan. ' Department of Intelligent Mechanical Systems Engineering, Kagawa University, 2217-20 Hayashi-cho, Takamatsu, Kagawa, Japan. ' Department of Intelligent Mechanical Systems Engineering, Kagawa University, 2217-20 Hayashi-cho, Takamatsu, Kagawa, Japan. ' Department of Neurological Surgery, Faculty of Medicine, Kagawa University, 1750-1 Ikenobe, Miki-cho Kida-gun, Takamatsu, Kagawa, Japan. ' Department of Neurological Surgery, Faculty of Medicine, Kagawa University, 1750-1 Ikenobe, Miki-cho Kida-gun, Takamatsu, Kagawa, Japan

Abstract: This paper proposes a novel master-slave robotic catheter operating system with force feedback and visual feedback for vascular interventional surgery (VIS). The robotic catheter system has good manoeuvrability, it can transmit the surgeon's skill to insert and rotate the catheter and avoids danger during VIS using force and visual feedback. In addition, it can be used to train unskilled surgeons to perform VIS. We performed a simulation experiment to validate our system using an endovascular evaluator (EVE). The experimental results demonstrated that the stability and response of the system were good. The robotic catheter system is suitable for performing VIS.

Keywords: robotic catheters; endovascular evaluator; EVE; robotic surgery; force feedback; visual feedback; master-slave systems; vascular interventional surgery; VIS; surgical robots; surgeon training; simulation.

DOI: 10.1504/IJMA.2012.046583

International Journal of Mechatronics and Automation, 2012 Vol.2 No.1, pp.15 - 24

Available online: 01 May 2012 *

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