Abstract
In interventional procedures, the haptic “feel᾿ and the real-time fluroscopic image displayed on the video monitor are two means for the physicians to navigate the catheter/guidewire into a desired vessel segment. This paper presents a portable haptic interaction device which can be used to navigate the motion (push/pull and rotation) of navigation devices (catheters and guidewires) and provide realistic feeling of the feedback forces. The resolution of the tracking mechanism is 0.137mm and the tracking error is less than 3.5mm. The maximum frictional force provided by our embodiment is 5N.
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