Abstract
This paper proposes a master-slave catheterisation system including a steerable catheter with positioning function and an insertion mechanism with force feedback. The steerable catheter is integrated with two magnetic tracking sensors for positioning. The distal shape of catheter is displayed with virtual vascular model to generate 3D guiding image to provide the relative relationship between the catheter and its surrounding vessels. The master-slave insertion mechanism with differential gear structure is designed with force feedback to assist surgeons to manipulate the catheter. It can implement pulling/pushing, rotating and bending/recovering the catheter. Based on this system, surgeons in the control room can utilise the master handle to operate the insertion mechanism for positioning the distal end of catheter with the assistance of 3D guiding image. The stability and accuracy of the system is validated in-vitro.
Sign-in/Register to access full text options 
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callMore From: International Journal of Mechatronics and Automation
Disclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
