A new master-slave robotic catheter system

摘要

In this paper, a new master-slave robotic catheter system for minimally invasive surgery (MIS) has been proposed, it can be used for training unskilled surgeons to do the operation of intravascular neurosurgery. Comparing with the previous catheter operating systems, the new master-slave robotic catheter operating system has good maneuverability. The new master-slave robotic catheter operating system 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 evaluated 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.