Feasibility study for a novel robotic catheter system

摘要

This paper presents a novel robotic catheter system for MIS (minimally invasive surgery), we developed a PID controller to the robotic catheter system for improving the stability and consistency, and also, we do the experiment to evaluate the feasibility of developed PID controller, the developed robotic catheter system can be used for training unskilled surgeons to do the operation of intravascular neurosurgery. The novel robotic catheter operating system has good maneuverability, it can simulate surgeon's operating skill to insert and rotate catheter. The characteristic evaluations (rotating motion and inserting motion) have also been done to verify the validity of the system, the experimental results indicated that the stability and responsibility of system were good, the robotic catheter system was fitting to be used for training unskilled surgeons to do the operation of intravascular neurosurgery.