Development of force sensing systems for a novel robotic catheter system

摘要

Force feedback plays a significant role in robot-assisted catheter system. How to realize the force feedback? How to transmit the force feedback to the experiences of skilled surgeons? Certainly, it is the force sensing system. In this paper, two kinds of force sensing systems for the robotic catheter system have been proposed and developed, we did the experiments to evaluate the performances of the developed force sensing systems, the experimental results indicated that the developed force sensing systems for the robotic catheter training system are effective, they are suitable for the robotic catheter system. They can be used to realize the force feedback during endovascular neurosurgery, furthermore, they can be used to extract the operating skills of experienced neurosurgeons to train unskilled neurosurgeons and medical students by using the robotic catheter system.