Dynamic performance analysis of a robotic catheter manipulating system

Manual operation of steerable catheter is inaccurate in minimally invasive surgery, requires dexterous and efficient manipulation for the catheter and exposes the surgeons to intense radiation. A novel robotic catheter manipulating system has been developed to reduce the performance error and irradiation to surgeons. In addition, unlike the conventional technique which requires surgeons to manipulate the catheter using their hands, remote systems always have removed surgeons' hands and replaced from joystick and handle, thus withdrawing their unique skills and experience. The novel robotic catheter manipulating system proposed that surgeon could manipulate the catheter that is same to the surgeries' often use. The surgeon console (the master side) used to measure the axial and radial motions of input catheter and the catheter manipulator (the slave side) used to implement to patients. Performance evaluation of system was conducted to test both the dynamic and static performance of manipulation. The experimental results showed the system has the ability to be a training system for surgeons and also facilitate the interventional surgery in the future.