Robust control design of remote catheter insertion mechanism with haptic feedback

Robotic surgery is becoming a popular technique for certain procedures since benefits of minimally invasive surgery (MIS) have become general knowledge. However, one of the major shortcomings of the present generation of master-slave robotic systems is the lack of haptic feedback; the surgeon that remotely controls the robot is not able to feel what is happening inside the patient.;The objective of this thesis was to design a robust control system for a catheter insertion mechanism for cardiac catheterization with haptic feedback. This thesis is divided into two parts. The first part covers a comprehensive literature review, laboratory setup design and implementation. The second part covers the control aspect and design of a robust control. An Hinfinity controller was used to achieve system robustness. A new approach to find teleoperation system model for Hinfinity controller is given. The designed controller was implemented in MATLAB.