Piezoelectric Ultrasonic Actuator for a Haptic Display for Catheterisation

During a catheterisation, the surgeon's navigation to the coronary vessels is restricted to a two-dimensional X-ray image. The HapCath system presents a haptic feedback to the surgeon to enable a more intuitive navigation similar to a blind man's cane. In this paper the actuation system for the haptic interface is shown. A piezoelectric ultrasonic actuator is used to generate force and torque on the guide wire. The main working principle of the actuator is described. The advantages compared to dynamic actuating systems are described