A Master-Follower Teleoperation System for Robotic Catheterization: Design, Characterization, and Tracking Control

2024-07-18

arXiv.org

AI Summary

This study addresses critical challenges in robotic catheter ablation interventions—distorted haptic feedback, severe catheter buckling/torsion, and low transparency in teleoperation—by proposing a three-degree-of-freedom master–slave teleoperation system. Methodologically, it introduces: (1) a novel slave-side mechanism featuring grasp–insert–release motion; (2) a static force characterization model for bidirectionally navigable ablation catheters; and (3) a clinically oriented transparent teleoperation architecture. The system achieves precise manipulation via master–slave motion mapping and open-loop path-following control. Experimental validation on circular, figure-eight, and helical trajectories yields average Euclidean errors of 0.64–1.53 cm and average absolute errors of 0.81–1.92 cm, confirming baseline accuracy while underscoring the necessity of closed-loop control for clinical deployment.

Technology Category

• Intelligent Robots: Manipulation
• Machine Learning: Calibration & Uncertainty Quantification
• Computer Vision: Interpretability, Explainability, and Transparency

Application Category

• Systems and Infrastructure for Web, Mobile and WoT: Experiences and lessons learnt from Web-based algorithms and system deployments
• Responsible Web: Machine-in-the-loop, human agency and autonomy
• Graph Algorithms and Modeling for the Web: Efficient manipulation of static and dynamic Web-related graphs

Abstract

Minimally invasive robotic surgery has gained significant attention over the past two decades. Telerobotic systems, combined with robot-mediated minimally invasive techniques, have enabled surgeons and clinicians to mitigate radiation exposure for medical staff and extend medical services to remote and hard-to-reach areas. To enhance these services, teleoperated robotic surgery systems incorporating master and follower devices should offer transparency, enabling surgeons and clinicians to remotely experience a force interaction similar to the one the follower device experiences with patients' bodies. This paper presents the design and development of a three-degree-of-freedom master-follower teleoperated system for robotic catheterization. To resemble manual intervention by clinicians, the follower device features a grip-insert-release mechanism to eliminate catheter buckling and torsion during operation. The bidirectionally navigable ablation catheter is statically characterized for force-interactive medical interventions. The system's performance is evaluated through approaching and open-loop path tracking over typical circular, infinity-like, and spiral paths. Path tracking errors are presented as mean Euclidean error (MEE) and mean absolute error (MAE). The MEE ranges from 0.64 cm (infinity-like path) to 1.53 cm (spiral path). The MAE also ranges from 0.81 cm (infinity-like path) to 1.92 cm (spiral path). The results indicate that while the system's precision and accuracy with an open-loop controller meet the design targets, closed-loop controllers are necessary to address the catheter's hysteresis and dead zone, and system nonlinearities.

Problem

• Design of master-follower teleoperation system
• Characterization of catheter force interactions
• Evaluation of path tracking accuracy

Innovation

• Three-degree-of-freedom master-follower system
• Grip-insert-release mechanism eliminates catheter buckling
• Bidirectionally navigable ablation catheter characterized statically