Kinematic Analysis of the Catheter used in the Robot-assisted Catheter Operating System for Vascular Interventional Surgery

Vascular Interventional Surgery (VIS) has been widely applied because of its advantages of small trauma and fast recovery in interventional surgery. In the previous work, we designed a master-slave robotic catheter system for VIS. In order to solve the problem that the operating device can not accurately deliver the catheter to the target position, the kinematic analysis of the catheter was carried out. In this paper, we analyzed the kinematics performance of the catheter tip, and obtained the movement rule of the catheter. What's more, we used the movement rule to control the position changes of the catheter to reduce the position error. Finally, we conducted two sets of experiments to push the catheter into the human blood vessel model to measure the distance between the position of the catheter and the position of the target. The experimental results show that use the kinematic modeling to control the movement of the catheter tip can effectively reduce the position error and improve the accuracy of control for the system.