Logo
ScienceStack
Table of Contents
Fetching ...
Sign In

A Master-Follower Teleoperation System for Robotic Catheterization: Design, Characterization, and Tracking Control

Ali A. Nazari, Jeremy Catania, Soroush Sadeghian, Amir Jalali, Houman Masnavi, Farrokh Janabi-Sharifi, Kourosh Zareinia

TL;DR

The paper addresses radiation exposure in cardiac catheterization by proposing a 3-DOF master–follower teleoperation system with haptic feedback. It introduces a follower featuring a grip-insert-release mechanism and a Cosserat-rod–based dynamic model of the tendon-driven catheter, and validates the setup through open-loop approaching and path-tracking experiments. Key contributions include a compact, bidirectional catheter teleoperation platform, a catheter-characterization workflow for teleoperation, and quantitative open-loop performance data (MEE ranging from 0.64 to 1.53 cm and MAE from 0.81 to 1.92 cm) that reveal the impact of hysteresis and dead zones. The study concludes that closed-loop control is necessary to mitigate nonlinearities and suggests future work integrating medical imaging and latency-aware bilateral feedback to enhance safety and accuracy in clinical settings.

Abstract

Minimally invasive robotic surgery has gained significant attention over the past two decades. Telerobotic systems, combined with robot-mediated minimally invasive techniques, have enabled surgeons and clinicians to mitigate radiation exposure for medical staff and extend medical services to remote and hard-to-reach areas. To enhance these services, teleoperated robotic surgery systems incorporating master and follower devices should offer transparency, enabling surgeons and clinicians to remotely experience a force interaction similar to the one the follower device experiences with patients' bodies. This paper presents the design and development of a three-degree-of-freedom master-follower teleoperated system for robotic catheterization. To resemble manual intervention by clinicians, the follower device features a grip-insert-release mechanism to eliminate catheter buckling and torsion during operation. The bidirectionally navigable ablation catheter is statically characterized for force-interactive medical interventions. The system's performance is evaluated through approaching and open-loop path tracking over typical circular, infinity-like, and spiral paths. Path tracking errors are presented as mean Euclidean error (MEE) and mean absolute error (MAE). The MEE ranges from 0.64 cm (infinity-like path) to 1.53 cm (spiral path). The MAE also ranges from 0.81 cm (infinity-like path) to 1.92 cm (spiral path). The results indicate that while the system's precision and accuracy with an open-loop controller meet the design targets, closed-loop controllers are necessary to address the catheter's hysteresis and dead zone, and system nonlinearities.

A Master-Follower Teleoperation System for Robotic Catheterization: Design, Characterization, and Tracking Control

TL;DR

The paper addresses radiation exposure in cardiac catheterization by proposing a 3-DOF master–follower teleoperation system with haptic feedback. It introduces a follower featuring a grip-insert-release mechanism and a Cosserat-rod–based dynamic model of the tendon-driven catheter, and validates the setup through open-loop approaching and path-tracking experiments. Key contributions include a compact, bidirectional catheter teleoperation platform, a catheter-characterization workflow for teleoperation, and quantitative open-loop performance data (MEE ranging from 0.64 to 1.53 cm and MAE from 0.81 to 1.92 cm) that reveal the impact of hysteresis and dead zones. The study concludes that closed-loop control is necessary to mitigate nonlinearities and suggests future work integrating medical imaging and latency-aware bilateral feedback to enhance safety and accuracy in clinical settings.

Abstract

Minimally invasive robotic surgery has gained significant attention over the past two decades. Telerobotic systems, combined with robot-mediated minimally invasive techniques, have enabled surgeons and clinicians to mitigate radiation exposure for medical staff and extend medical services to remote and hard-to-reach areas. To enhance these services, teleoperated robotic surgery systems incorporating master and follower devices should offer transparency, enabling surgeons and clinicians to remotely experience a force interaction similar to the one the follower device experiences with patients' bodies. This paper presents the design and development of a three-degree-of-freedom master-follower teleoperated system for robotic catheterization. To resemble manual intervention by clinicians, the follower device features a grip-insert-release mechanism to eliminate catheter buckling and torsion during operation. The bidirectionally navigable ablation catheter is statically characterized for force-interactive medical interventions. The system's performance is evaluated through approaching and open-loop path tracking over typical circular, infinity-like, and spiral paths. Path tracking errors are presented as mean Euclidean error (MEE) and mean absolute error (MAE). The MEE ranges from 0.64 cm (infinity-like path) to 1.53 cm (spiral path). The MAE also ranges from 0.81 cm (infinity-like path) to 1.92 cm (spiral path). The results indicate that while the system's precision and accuracy with an open-loop controller meet the design targets, closed-loop controllers are necessary to address the catheter's hysteresis and dead zone, and system nonlinearities.
Paper Structure (22 sections, 18 equations, 12 figures, 6 tables)

This paper contains 22 sections, 18 equations, 12 figures, 6 tables.

Table of Contents

  1. Introduction
  2. Related Works
  3. Materials and Methods
  4. System Design
  5. Master Device
  6. Follower Device
  7. Dynamics Modeling
  8. Catheter Characterization
  9. Results
  10. Experimental Setup
  11. Master Device
  12. Follower Device
  13. Master-Follower Integration
  14. Motions Mapping for Teleoperation
  15. Open-loop Tracking Control
  16. ...and 7 more sections

Figures (12)

  • Figure 1: 3D CAD model of the master device: (1) master device's handle; (2) translational reaction motor.
  • Figure 2: 3D CAD model of the master device's handle: (1) rotational reaction motor; (2) bending reaction motor; (3) bending knob; (4) linear spring; (5) direction of translation; (6) axis of rotation - catheter handle; (7) axis of rotation - bending knob/motor.
  • Figure 3: 3D CAD model of the follower device: (1) handler mechanism; (2) feeder mechanism; (3) translational motor - handler; (4) linear rail - handler.
  • Figure 4: 3D CAD model of the follower device's handler: (1) rotational motor; (2) bending motor; (3) rotational gear chain; (4) catheter handle; (5) bending knob; (6) catheter shaft; (7) direction of translation; (8) axis of rotation - rotational motor; (9) axis of rotation - bending motor.
  • Figure 5: 3D CAD model of the follower device's feeder: (1) grip-insert-release assembly; (2) rotational motor; (3) rotational gear chain; (4) proximity sensor; (5) proximity sensor target; (6) limit switches; (7) catheter shaft; (8) direction of translation.
  • ...and 7 more figures