Performance evaluation of a robot-assisted catheter operating system with haptic feedback

  • Yu Song
  • Shuxiang GuoEmail author
  • Xuanchun Yin
  • Linshuai Zhang
  • Hideyuki Hirata
  • Hidenori Ishihara
  • Takashi Tamiya


In this paper, a novel robot-assisted catheter operating system (RCOS) has been proposed as a method to reduce physical stress and X-ray exposure time to physicians during endovascular procedures. The unique design of this system allows the physician to apply conventional bedside catheterization skills (advance, retreat and rotate) to an input catheter, which is placed at the master side to control another patient catheter placed at the slave side. For this purpose, a magnetorheological (MR) fluids-based master haptic interface has been developed to measure the axial and radial motions of an input catheter, as well as to provide the haptic feedback to the physician during the operation. In order to achieve a quick response of the haptic force in the master haptic interface, a hall sensor-based closed-loop control strategy is employed. In slave side, a catheter manipulator is presented to deliver the patient catheter, according to position commands received from the master haptic interface. The contact forces between the patient catheter and blood vessel system can be measured by designed force sensor unit of catheter manipulator. Four levels of haptic force are provided to make the operator aware of the resistance encountered by the patient catheter during the insertion procedure. The catheter manipulator was evaluated for precision positioning. The time lag from the sensed motion to replicated motion is tested. To verify the efficacy of the proposed haptic feedback method, the evaluation experiments in vitro are carried out. The results demonstrate that the proposed system has the ability to enable decreasing the contact forces between the catheter and vasculature.


Robot-assisted catheter operating system (RCOS) Magnetorheological (MR) fluids Haptic interface Catheter manipulator Haptic feedback 



This research is partly supported by National High-tech Research and Development Program (863 Program) of China (No.2015AA043202), and SPS KAKENHI Grant Number 15 K2120.


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Copyright information

© Springer Science+Business Media, LLC, part of Springer Nature 2018
corrected publication June/2018

Authors and Affiliations

  • Yu Song
    • 1
  • Shuxiang Guo
    • 2
    • 3
    Email author
  • Xuanchun Yin
    • 4
  • Linshuai Zhang
    • 1
  • Hideyuki Hirata
    • 3
  • Hidenori Ishihara
    • 3
  • Takashi Tamiya
    • 5
  1. 1.Graduate School of EngineeringKagawa UniversityTakamatsuJapan
  2. 2.Key Laboratory of Convergence Medical Engineering System and Healthcare Technology, the Ministry of Industry and Information TechnologyBeijing Institute of TechnologyBeijingChina
  3. 3.Faculty of EngineeringKagawa UniversityTakamatsuJapan
  4. 4.College of EngineeringSouth China Agricultural UniversityGuangzhouChina
  5. 5.Department of Neurological Surgery Faculty of MedicineKagawa UniversityTakamatsuJapan

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