Evaluating performance of a novel developed robotic catheter manipulating system

Abstract

Manual operation of the catheter is inaccurate in minimally invasive surgery, requires dexterous and efficient manipulation for the catheter and exposes the surgeons to intense radiation. A novel robotic catheter manipulating system has been developed with remote navigation to reduce the performance error and irradiation to surgeons. In addition, unlike the conventional technique which requires surgeons to manipulate the catheter using their hands, remote systems always have removed surgeons’ hands and replaced from joystick and handle, thus withdrawing their unique skills and experience. The proposed novel robotic catheter manipulating system presented that surgeon could manipulate the catheter that is same to the surgeons’ often use. The surgeon console (the master side) used to measure the axial and radial motions of input catheter transferred to the catheter manipulator (the slave side). Also, we designed the haptic device in the surgeon console and proximal measurement mechanism of resistance force in the catheter manipulator to provide the force feedback feeling and get the resistance force during input catheter. Performance evaluation of system was conducted to test both the dynamic and static performance of manipulation and synchronization between master and slave side. Finally, tele-operation has been done by endovascular evaluator (EVE) simulator. The experimental results showed the system has the ability to be a training system for neurosurgeons and to complete the clinical interventional surgery in the future.