Measuring tip and side forces of a novel catheter prototype: A feasibility study

摘要

Minimally Invasive Surgery (MIS) and robot surgery have opened new ways to perform surgical operations in a safer and simultaneously faster manner. In an effort to follow this minimally invasive trend, this paper presents the feasibility study of a novel fibre-optic catheter prototype. This prototype sensor has the ability to measure forces from the sides and tip. Classification of forces from multiple positions on a catheter provides valuable information for safe navigation inside the vasculature and heart of a patient. This sensor employs two fibre-optic schemes, one for the tip and one for the sides of the catheter; it is made entirely of plastic, making it compatible with Magnetic Resonance Imaging (MRI). A test bench was used to determine the linearity coefficients during static loading. These initial experiments on the prototype gave rise to an ideal linear force response coupled with low hysteresis. Finally, an experiment which tries to simulate the human blood vessel achieved satisfying results during dynamic sensor movement.