A novel robotic catheter system with force and visual feedback for vascular interventional surgery

TLDR

The study proposes a master‑slave robotic catheter system with force and visual feedback for vascular interventional surgery and aims to train unskilled surgeons. The system transmits the surgeon’s skill to insert and rotate the catheter, provides force and visual feedback to avoid danger during VIS, and was validated in a simulation experiment using an endovascular evaluator. The simulation experiment showed that the system has good stability and response and is suitable for performing vascular interventional surgery.

Abstract

This paper proposes a novel master-slave robotic catheter operating system with force feedback and visual feedback for vascular interventional surgery (VIS). The robotic catheter system has good manoeuvrability, it can transmit the surgeon's skill to insert and rotate the catheter and avoids danger during VIS using force and visual feedback. In addition, it can be used to train unskilled surgeons to perform VIS. We performed a simulation experiment to validate our system using an endovascular evaluator (EVE). The experimental results demonstrated that the stability and response of the system were good. The robotic catheter system is suitable for performing VIS.