A force acquisition method in a catheter navigation system

摘要

Endovascular intervention is expected to become increasingly popular in medical practice, both for diagnosis and for surgery. Accordingly, researches of robotic systems for endovascular surgery assistant have been carried out widely. Robotic catheter navigation systems are with advantages of higher precision, can be controlled remotely etc. However, the haptic feelings, the important function for propelling robotic catheter navigation system is immature. In the paper, a robotic catheter navigation system is proposed. The navigation system is designed to simulate the surgeon Os operating procedure. And the haptic feedback issue is concerned. A clamping force measure method is developed. Therefore, surgeons can carry out operation with their own skills. System implement and performance are presented.