Development of Master-Slave Type Tele-Operation Control Robotic System for Arrhythmia Ablation

Abstract

Recently, the robotic assist system for cardiovascular intervention gets continuously growing interest. The robotic cardiovascular intervention systems are largely two folds, systems for cardiac ablation procedure assist and systems for vascular intervention assist. For the systems, the clinician controls the catheter inserted through blood vessel to the heart via a master console or master manipulator. Most of the current master manipulators have structure of joystick-like pivoting 2 degree of freedom (DOF) handle in the core, which is used in parallel with other sliding switches and input devices. It however is desirable to have customized and optimized design manipulator that can provide clinician with intuitive control of the catheter motion fully utilizing the advantage of the use of robotic structure. A 6 DOF kinematic mechanism that can capture the motion control intention of the clinician in translational 3 DOF and rotational 3 DOF is proposed in this paper. Also, a master-slave motion relationship specially designed for the cardiac catheter manipulation motion is proposed and implemented in an experimental prototype. Design revision for implementation of more efficient motion and experiment in combination with an experimental slave robot system for catheter manipulation are underway.

Implementation of a 3D position detection system for a medical simulator

“…Cardiovascular disease is identified as the second most common cause of death in Korea; cardiovascular mortality rates rose by 38.8% in 2014 compared to that in 2004 [ 3 ]. Catheters are commonly used in most cardiovascular surgical procedures because of advantages such as short surgical duration, minimal invasiveness, and shortened patient recovery times [ 4 ]. Approximately 18.9% of all medical disputes in the United States resulting from surgery was attributable to chest and cardiac surgery [ 5 ].…”