Design of a virtual simulator for Transesophageal Echocardiography remote control

Cardiovascular diseases are the leading cause of global mortality accounting for more than 17 million deaths annually. This represents approximately 30 % of all global mortality with an increasing trend and consequent growth in the use of cardiac imaging systems. Transesophageal echocardiography represents a highly convenient method to diagnose heart pathologies and to monitor cardiac procedures. However, the impact of radiation, musculoskeletal disorders and human error lead to the consideration of remote controlling this procedure. This work presents the virtual design and control of an endoscope system within a human esophagus. Results include the performance of linear and nonlinear 1 DOF system models. An approach for the future development of a novel robotic Transesophageal Echocardiography control is presented.