Autonomous catheter insertion system using magnetic motion capture sensor for endovascular surgery

Abstract

We found that error in speed control rises as a result of friction between the catheter and the model wall. Path reconstruction error depends on the model's cross-sectional diameter, the properties of the catheter insertion mechanism, the magnetic sensor and the system guidance technique.

Safe Testing of Electrical Diathermy Cutting Using a New Generation Soft Manipulator

“…These values were chosen according to the safe contact force recommended for catheter insertion [46], [47], ranging from 0.1N to 0.8N, and characterized for the operation of miniaturized cutting [48] and electrocautery [49] tools operating on muscular tissue, between 0.1N and 0.4N.…”

Steerable catheters in minimally invasive vascular surgery

“…The end executive mechanism of the former is a friction roller pair, and the driving mechanisms are gear pairs, worm-and-gear pairs and pulleys (41)(42)(43)(44). The latter are screw-nut pairs together with a gripper (45) and a linear stepping mechanism (46). The twisting function is usually achieved by gear pairs driven by an electric motor.…”

Catheter Insertion Reference Trajectory Construction Method Using Photoelastic Stress Analysis for Quantification ofRespect for TissueDuring Endovascular Surgery Simulation

“…Actually there are at least nine catheters and guide wires driving devices (Govindarajan et al 2010), and an autonomous catheter insertion system to reconstruct catheter trajectories through vasculature phantoms relying on magnetic trackers (Tercero et al 2007). The measurement of respect for tissue while these robotic systems are manipulating the catheter is useful for designing and for demonstration of the reliability of those robotic systems.…”

“…For the bi-planar configuration the reference trajectory shown in Figure 12 was used, and the catheter was driven with the robot used in (Tercero et al 2007). In normalized time, the motion of the catheter, and variations of stress and deformation are shown in Figures 14 and 15.…”