Autonomous catheter insertion system using magnetic motion capture sensor for endovascular surgery.
BACKGROUND
In order to reduce fluoroscope usage in endovascular surgery, there is a need to develop autonomous catheter insertion systems.


METHODS
We propose a system for tracking the position and speed of a catheter using a magnetic motion capture sensor to provide feedback to a catheter-driving mechanism, to perform autonomous catheter insertion in major vasculature. Catheter insertion speed control and path reconstruction experiments were performed with the system inside a silicone model of major vasculature to simulate surgery.


RESULTS
The system controlled the catheter for speeds of 6.14 mm/s and reproduced a two-dimensional path inside the silicone blood vessel phantom with less than 7 mm of error.


CONCLUSIONS
We found that error in speed control rises as a result of friction between the catheter and the model wall. Path reconstruction error depends on the model's cross-sectional diameter, the properties of the catheter insertion mechanism, the magnetic sensor and the system guidance technique.
Tercero
C
C
Department of Complex Systems Science, Nagoya University, Nagoya, Aichi, Japan. tercero@robo.mein.nagoya-u.ac.jp
Ikeda
S
S
Uchiyama
T
T
Fukuda
T
T
Arai
F
F
Okada
Y
Y
Ono
Y
Y
Hattori
R
R
Yamamoto
T
T
Negoro
M
M
Takahashi
I
I
D002404:Catheterization / Q000295:instrumentation* / Q000379:methods; D004867:Equipment Design; D019544:Equipment Failure Analysis; D008280:Magnetics / Q000295:instrumentation* / Q000627:therapeutic use*; D012371:Robotics / Q000295:instrumentation* / Q000379:methods; D025321:Surgery, Computer-Assisted / Q000295:instrumentation* / Q000379:methods; D014159:Transducers; D014656:Vascular Surgical Procedures / Q000295:instrumentation* / Q000379:methods