Analysis of Interaction Forces during Phantom-based Vascular Intervention Procedure

Abstract

"Robotic systems for teleoperated vascular intervention procedure greatly reduce the radiation exposure both for the operator and the patient. The haptic information because of the interaction of guide wire and/or catheter with the vascular walls is very crucial in such procedures. Such information can be collected either by placing tiny tip-sensor or can be estimated from bend angles in the angiogram. In this paper, the electric current information in slave actuator is utilized to correlate with the interaction forces. The results show that a drastic rise in actuator current is observed whenever the catheter and guidewire enters in narrow branch or pass through severely curved artery."