TY - GEN
T1 - Development of a novel robot-assisted catheter system with force feedback
AU - Ma, Xu
AU - Guo, Shuxiang
AU - Xiao, Nan
AU - Guo, Jian
AU - Yoshida, Shunichi
AU - Tamiya, Takashi
AU - Kawanishi, Masahiko
PY - 2011
Y1 - 2011
N2 - Manual operation of intracardiac steerable catheter is inaccurate, requires dexterity for efficient manipulation of the catheter, and exposes the surgeons to intense radiation. This paper presents a robot-assisted catheter manipulation system with force feedback, monitor and a master-slave tele-operation system. We developed the mechanical system and applied it in the slave side to guarantee the manipulation safety in intravascular neurosurgery applications. The force information can be obtained from the load cell. When the catheter contacted to the vascular, the surgeon can feel the force feedback and avoids the damage. The experiments indicate that the proposed force feedback robotic catheter system can work well and facilitate the manipulation, avoid potential damages.
AB - Manual operation of intracardiac steerable catheter is inaccurate, requires dexterity for efficient manipulation of the catheter, and exposes the surgeons to intense radiation. This paper presents a robot-assisted catheter manipulation system with force feedback, monitor and a master-slave tele-operation system. We developed the mechanical system and applied it in the slave side to guarantee the manipulation safety in intravascular neurosurgery applications. The force information can be obtained from the load cell. When the catheter contacted to the vascular, the surgeon can feel the force feedback and avoids the damage. The experiments indicate that the proposed force feedback robotic catheter system can work well and facilitate the manipulation, avoid potential damages.
KW - Catheter
KW - Force Feedback Mechanical System
KW - Master-Slave Mechanism
KW - Minimally Invasive Surgery (MIS)
UR - http://www.scopus.com/inward/record.url?scp=81055133490&partnerID=8YFLogxK
U2 - 10.1109/ICMA.2011.5985640
DO - 10.1109/ICMA.2011.5985640
M3 - Conference contribution
AN - SCOPUS:81055133490
SN - 9781424481149
T3 - 2011 IEEE International Conference on Mechatronics and Automation, ICMA 2011
SP - 107
EP - 111
BT - 2011 IEEE International Conference on Mechatronics and Automation, ICMA 2011
T2 - 2011 IEEE International Conference on Mechatronics and Automation, ICMA 2011
Y2 - 7 August 2011 through 10 August 2011
ER -