Controller design for a robotic catheter teleoperation 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 system takes advantages of higher precision, can be controlled remotely etc. In this paper a novel robotic catheter manipulation system is presented. The developed system consists of two parts, one is the surgeon console and the other one is the catheter manipulator. The surgeon's console is designed to simulate the surgeon's operating procedure, and the catheter manipulator takes the same movement motion with the controller. Therefore, the force feedback could be realized easily. In the paper, the mechanism of the system is introduced in detail. Controllers are designed for both two parts. The dynamic performance of the system is discussed in the paper.