Measuring tip and side forces of a novel catheter prototype: A feasibility study

Panagiotis Polygerinos, Tobias Schaeffter, Lakmal Seneviratne, Kaspar Althoefer

Research output: Chapter in Book/Report/Conference proceedingConference contribution

15 Scopus citations

Abstract

Minimally Invasive Surgery (MIS) and robot surgery have opened new ways to perform surgical operations in a safer and simultaneously faster manner. In an effort to follow this minimally invasive trend, this paper presents the feasibility study of a novel fibre-optic catheter prototype. This prototype sensor has the ability to measure forces from the sides and tip. Classification of forces from multiple positions on a catheter provides valuable information for safe navigation inside the vasculature and heart of a patient. This sensor employs two fibre-optic schemes, one for the tip and one for the sides of the catheter; it is made entirely of plastic, making it compatible with Magnetic Resonance Imaging (MRI). A test bench was used to determine the linearity coefficients during static loading. These initial experiments on the prototype gave rise to an ideal linear force response coupled with low hysteresis. Finally, an experiment which tries to simulate the human blood vessel achieved satisfying results during dynamic sensor movement.

Original languageEnglish (US)
Title of host publication2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009
Pages966-971
Number of pages6
DOIs
StatePublished - Dec 11 2009
Event2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009 - St. Louis, MO, United States
Duration: Oct 11 2009Oct 15 2009

Publication series

Name2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009

Other

Other2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009
CountryUnited States
CitySt. Louis, MO
Period10/11/0910/15/09

ASJC Scopus subject areas

  • Artificial Intelligence
  • Computer Vision and Pattern Recognition
  • Human-Computer Interaction
  • Control and Systems Engineering

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    Polygerinos, P., Schaeffter, T., Seneviratne, L., & Althoefer, K. (2009). Measuring tip and side forces of a novel catheter prototype: A feasibility study. In 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009 (pp. 966-971). [5354556] (2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009). https://doi.org/10.1109/IROS.2009.5354556