Inverse kinematics based point-tracking strategy of master-slave robotic catheter intervention

Abstract

Abstract-This paper presents the point-tracking strategy of master-slave robotic catheter intervention, which integrates with the distal/proximal and virtual force. First, the mapping between the motion space of master handle and the space of vascular model is built up. Second, the close-loop control based on the inverse kinematics is developed with the compensation of backlash. Third, proximal force, distal force and virtual force are provided to assist the surgeons to perform the procedure safely. Finally, the catheterization is performed in the vascular silicon model to verify the effectiveness.