A robotic catheter system with real-time force feedback and monitor.

This paper presents a robotic catheter system with force sensors, monitor and a master-slave remote control system. We developed micro force sensors and applied them in the system to guarantee the operation safety in intravascular neurosurgery applications, and employed a camera to monitor the operation. Two kinds of force information are obtained through force sensors when the catheter contacted the blood vessel. The experiment shows that the proposed force sensors-based catheter system works well through force feedback and remote control. The system can facilitates the operation and avoid potential damages.