Research Of Robotic Teleoperation Catheter Intervention System

The catheter interventional surgery has been preferred method for the therapy of cardiovascular diseases for its smaller incisions, slighter pain, less risk, and quicker postoperative recovery. However, the current domestic catheterization is the surgeons control the catheter directly on site, which means the surgeons not only to have high-level skill but also undergo excessive radiation.A new robotic teleoperation catheter intervention system was built in order to overcome the shortcomings, based on the analyses of the existing intervention system both domestic and overseas and the medical level of China. The system consists of image guidance system, slave intervention system, the mast and teleoperation control system, haptic feedback and reproduction system, which in line with current national medical conditions.Mechanical motion types were extracted, according to the analysis of the traditional interventional operation process; also a slave catheter interventional device based on planetary gear train was designed, of which rotation and revolution motion correspond to pushing and rotating operation of catheter. The well-structured device that avoids the use of the conductive interface not only can achieve the requirement motion and but also was controlled by a master magnetorheological tele-controller which was designed for surgeons to avoid operating on site. The viscosity of magnetorheological fluid changes with external magnetic strength, and the damping of tele-controller based on magnetorheological fluid were changed with the force feedback signal, thus, the surgeon is able to feel the physical constraints about the catheter when operate the surgery remotely. The real force telepresence makes it more comfortable and easier for surgeons to tele-operate.The hardware platforms of interventional device control system and force feedback system were built, and the corresponding algorithm and the program flow were designed. The control information between two systems was exchanged through the rotary encoder; moreover, the force information between two systems was contacted by feedback sensor.Subsequently, the prototype teleoperation robot-assisted catheter intervention system was established and the experiments were carried out to test the performances and positioning accuracy. And it proved that the design of the robot system can accomplish the function requirements of catheter intervention.