Design and evaluation of a novel guidewire navigation robot
Robotically controlled steerable guidewire navigation systems has been paid much attention to, because it can allow the surgeons to be released from radiation and heavy radiation protection garments, reduce radiation exposure, increase precision and stability of motion, and add operator comfort. The aim of the study was to improve the precision of axial motion, rotational motion and force measurement, as well as installation convenience. A novel guidewire navigation robot, composed of a master side and a slave side was developed, which can reach the high precision, measure the force/torque of guidewire, and realize the force/torque feedback to the surgeon. To evaluate feasibility of the novel guidewire navigation robot, a system evaluation was developed. The experimental results show that: axial error was no more than 0.5mm, the rotational error was no more than 1 degree, and force error was no more than 0.031N. The novel guidewire navigation robot, potentially increasing guidewire motion precision and accuracy, is feasible for minimally invasive surgery.
2016 IEEE International Conference on Mechatronics and Automation