A multidimensional information monitoring method for a novel robotic vascular interventional system

Abstract

This paper proposed a multidimensional information monitoring method for a novel master-slave robotic vascular interventional system. We have designed a contact force sensor based on pressure sensitive rubber to transmit the force information to surgeon to improve the security during VIS (vascular interventional surgery). Furthermore, the motion information of catheter is also monitored in the information monitoring system. The multidimensional information monitoring system can also send out a warning message to remind the operator of the danger. The simulation experiments (in vivo) have been carried out to verify the information monitoring system. And, we got the force information by the contact force sensor when the catheter contacted with the blood vessel. We also carried out the motion monitoring experiment and got the motion data of the catheter. The experimental results indicated that the information monitoring system for the master-slave system works well and can improve the security of the master-slave system. In addition, the information monitoring system can provide convenience for the operator and avoid danger when the value exceeding a threshold.