Development of an Innovative Sleeve-Based Robotic Catheter Driver
Omar Al-Ahmad, Moloud Ourak, Simon Jeanquart, Nick Deserranno, Felix Bernhard, Yohannes Kassahun, Bingbin Yu, Emanuel Vander Poorten
In Proceedings of the 8th Joint Workshop on New Technologies for Computer/Robot Assisted Surgery, (CRAS-2018), 10.9.-11.9.2018, London, CRAS, Centre for Advanced Robotics @ Queen Mary University of London, Sep/2018.
A novel sleeve-based catheter driver was developed and evaluated in this paper. Unlike other types of systems, this catheter driver exerts evenly distributed forces along the catheter’s length preventing damage and slippage. In addition, an innovative sleeve-based gripping strategy was implemented that allows for a smooth infinite and continuous stroke without interruption. Preliminary results demonstrate the catheter’s continuous translation and its high positional accuracy. These results also illustrate the catheter driver’s potential use in intricate cardiothoracic surgeries.
catheter driver, catheter tip position, catheter driver system, Minimally Invasive Surgery (MIS), Robotic Catheter Driver, Sleeve-Based gripping