A haptic catheter operating system using magnetorheological fluids

Abstract

Minimally invasive surgery and Therapy (MIST) is popular used both for diagnosis and for surgery. Teleoperation, a new kind of surgery, is used to protect the surgeon from X-ray radiation. However, some safety problem should be considered because the surgeon was separated from the patient remotely. A most effective address method is design of a haptic interface as a master console, which can provide the 'immersive' operation to the surgeon. In this paper, a new haptic interface is design for catheter operation surgery through controlling smart materialmagnetorheological fluids. Magnetic field, haptic interface and haptic performance calibration mechanism have been designed and fabricated. Some experiments have been done to verify the efficiency of haptic interface, which can be used as master console as well as training simulator for non-experience surgeon.

Design and experimental evaluation of a teleoperated haptic robot–assisted catheter operating system

“…Therefore, chain-like state The relationship in the diagram block represents ''current versus haptic force'' and the relationship for the developed system has been determined experimentally and it will be discussed in section ''Experiment IV: haptic force measurement at different insertion frequencies''. (Yin, et al, 2014) MR: magnetorheological; PID: proportional-integral-derivative. can be controlled by adjusting the application of magnetic field.…”

“…Teleoperated robot-assisted catheter operating system control diagram block through exploiting MR fluid. The relationship in the diagram block represents ''current versus haptic force'' and the relationship for the developed system has been determined experimentally and it will be discussed in section ''Experiment IV: haptic force measurement at different insertion frequencies'' (Yin, et al, 2014).…”