title: Design and performance evaluation of a master controller for endovascular catheterization.
abstract: OBJECTIVE
  It is difficult to manipulate a flexible catheter to target a position within a patient's complicated and delicate vessels. However, few researchers focused on the controller designs with much consideration of the natural catheter manipulation skills obtained from manual catheterization. Also, the existing catheter motion measurement methods probably lead to the difficulties in designing the force feedback device. Additionally, the commercially available systems are too expensive which makes them cost prohibitive to most hospitals. This paper presents a simple and cost-effective master controller for endovascular catheterization that can allow the interventionalists to apply the conventional pull, push and twist of the catheter used in current practice.
  
  
  METHODS
  A catheter-sensing unit (used to measure the motion of the catheter) and a force feedback unit (used to provide a sense of resistance force) are both presented. A camera was used to allow a contactless measurement avoiding additional friction, and the force feedback in the axial direction was provided by the magnetic force generated between the permanent magnets and the powered coil.
  
  
  RESULTS
  Performance evaluation of the controller was evaluated by first conducting comparison experiments to quantify the accuracy of the catheter-sensing unit, and then conducting several experiments to evaluate the force feedback unit. From the experimental results, the minimum and the maximum errors of translational displacement were 0.003 mm (0.01 %) and 0.425 mm (1.06 %), respectively. The average error was 0.113 mm (0.28 %). In terms of rotational angles, the minimum and the maximum errors were 0.39°(0.33 %) and 7.2°(6 %), respectively. The average error was 3.61°(3.01 %). The force resolution was approximately 25 mN and a maximum current of 3A generated an approximately 1.5 N force.
  
  
  CONCLUSIONS
  Based on analysis of requirements and state-of-the-art computer-assisted and robot-assisted training systems for endovascular catheterization, a new master controller with force feedback interface was proposed to maintain the natural endovascular catheterization skills of the interventionalists.
authors.affiliation: Graduate School of Engineering, Kagawa University, Takamatsu, Kagawa, Japan. s12d503@stmail.eng.kagawa-u.ac.jp.
authors.forename: Jin
authors.initials: J
authors.lastname: Guo
authors.affiliation: Intelligent Mechanical Systems Engineering Department, Kagawa University, Takamatsu, Kagawa, Japan. guo@eng.kagawa-u.ac.jp.|School of Life Science, Beijing Institute of Technology, Haidian District, Beijing, China. guo@eng.kagawa-u.ac.jp.
authors.forename: Shuxiang
authors.initials: S
authors.lastname: Guo
authors.affiliation: Department of Neurological Surgery, Faculty of Medicine, Kagawa University, Takamatsu, Kagawa, Japan.
authors.forename: Takashi
authors.initials: T
authors.lastname: Tamiya
authors.affiliation: Intelligent Mechanical Systems Engineering Department, Kagawa University, Takamatsu, Kagawa, Japan.
authors.forename: Hideyuki
authors.initials: H
authors.lastname: Hirata
authors.affiliation: Intelligent Mechanical Systems Engineering Department, Kagawa University, Takamatsu, Kagawa, Japan.
authors.forename: Hidenori
authors.initials: H
authors.lastname: Ishihara
mesh_terms: D002404:Catheterization / Q000295:instrumentation*; D057510:Endovascular Procedures / Q000295:instrumentation*; D004867:Equipment Design; D006801:Humans; D012371:Robotics / Q000295:instrumentation*; D025321:Surgery, Computer-Assisted / Q000295:instrumentation* / Q000379:methods
keywords: A force feedback device; A master controller; Contactless measurement; Endovascular catheterization; Training