Motion characteristic evaluation of a catheter operating system using an optical mouse sensor

Abstract

Endovascular intervention is expected to become increasing popular in medical practice, both for diagnosis and for surgery. Accordingly, researches of robotic catheter operation systems for endovascular surgery have been studied widely. The master-slave system is adopted by some researchers in this area. The catheter operating system consists of two parts, one is the master system (surgeon console), and the other is the slave system (catheter manipulator). In order to improve maneuverability of the catheter operating system, the master system is designed to imitate the surgeon's operating procedure and skills as well as operating the clinical catheter, the slave system carry out the same motions with the master side. In this paper, a new catheter motion measurement device based on an optical mouse sensor is presented. Finally, some of catheter motion measurement experiments have been done to verify the dynamic performance of motion measurement device in the master system. Therefore, the motion measurement device in the master system can meet the needs of training the novice surgeon.