MR fluid interface of endovascular catheterization based on haptic sensation
- Resource Type
- Conference
- Authors
- Song, Yu; Guo, Shuxiang; Zhang, Linshuai; Yin, Xuanchun
- Source
- 2016 IEEE International Conference on Mechatronics and Automation Mechatronics and Automation (ICMA), 2016 IEEE International Conference on. :454-458 Aug, 2016
- Subject
- Bioengineering
Robotics and Control Systems
Signal Processing and Analysis
Fluids
Catheters
Haptic interfaces
Surgery
Force
Magnetic fields
Dynamics
MR fluid
Haptic Sensation
Minimally Invasive Surgery (MIS)
Transparency
- Language
- ISSN
- 2152-744X
During the teleoperated robot assisted catheter interventional neurosurgery, to improve the transparency between the patient side (slave side) and the remote control side (mast side) have been obtained plenty of attention. In this research we hypothesized that the slave catheter interventional robot fully complied with the dynamics command which comes from the master site. This paper is concerned with the design and implementation of a master side by Magnetorheological (MR) fluid, which can reflect the dynamic changes of the insertion resistance force, when the catheter goes through the blood vessel to the lesions. Experimental results showed that MR Fluid actuated haptic interface has a benefit to describe the blood viscous force during the endovascular catheterization.