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. 2007 Mar;3:52-8.
doi: 10.1002/rcs.116.

Autonomous Catheter Insertion System Using Magnetic Motion Capture Sensor for Endovascular Surgery

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Autonomous Catheter Insertion System Using Magnetic Motion Capture Sensor for Endovascular Surgery

C Tercero et al. Int J Med Robot. .

Abstract

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.

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