Abstract
This paper describes an innovative robotic system designed to perform transcatheter angioplasty, that can be used in a number of different applications. It is based on a very simple system, including both a measuring unit, called Master, that is the one on which the physician directs the operations, and an actuation device, called Slave, located near to the patient, that actively reproduces the movements commanded by the operator at the passive Master unit. Both systems require a small additional element that takes direct contact with guides and catheters and needs therefore to be sterile on the Slave unit. The system has been designed adding also the possibility of using an alternative Master station equipped with two joysticks and a series of knobs and can drive up to three different Slaves, one dedicated to the guiding catheter, the second and third to balloon catheters and relative guide wires, that may be used also in couple. Two patents have already been presented on this topic.
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