Rotary Encoder-based Position Transmission and Feedback of a Novel Robotic Catheter System for Endovascular Catheterization

Robotic catheter systems can obviously reduce the radiation exposure to the surgeon and lessen the fatigue caused by standing for a long time in protective clothing. However, few designs have taken the ergonomic design and convenience of operation into consideration. This paper presents a robotic catheter system based on the pinion and rack mechanism with two rotary encoders. The two rotary encoders are used to transmit and feedback the motion information in the axial and radial directions, respectively. A valuable contribution is that surgeons can operate the master manipulator like operating a catheter in traditional surgery. This can make the operator have a telepresence, thus reducing the physical stress during catheter intervention. Performance evaluation of quantifying accuracy was assessed by bilateral control experiments in axial and radial motion. The results show the system has the ability to sense motion to within 1 mm and 2° in the axial and radial directions, respectively. Therefore, the presented robotic catheter system provides important insights into the development of safe and high-precision robotic catheter systems incorporating ergonomic and convenience design for endovascular catheterization.