A magnetorheological fluid-based tremor reduction method for robot-assisted catheter operating system

Abstract

Robot-assisted catheter operating systems are commonly developed since they can improve the operation accuracy and avoid the impact of radiation on surgeons. However, when surgeons perform operations with tremors, the operating efficiency and accuracy will be seriously affected. In this paper, a novel method was proposed to reduce tremor during interventional vascular therapy (IVT). Magnetorheological (MR) fluids are used not only to generate force feedback for surgeons but also to produce resistance to the operations with tremors. Simulations and experiments were carried out to verify the performance of the proposed method. Experiments and simulations results indicated that tremors can be reduced effectively with the proposed method. A robot-assisted catheter operating system with the proposed tremor reduction method, cannot only improve the safety and efficiency of operations, but also extend the professional career of surgeons.