A Master-Follower Teleoperation System for Robotic Catheterization: Design, Characterization, and Tracking Control
<|reference_start|>A Master-Follower Teleoperation System for Robotic Catheterization: Design, Characterization, and Tracking Control: 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.<|reference_end|>
@article{nazari2024a,
    title={A Master-Follower Teleoperation System for Robotic Catheterization:
  Design, Characterization, and Tracking Control},
    author={Ali A. Nazari, Jeremy Catania, Soroush Sadeghian, Amir Jalali, Houman
  Masnavi, Farrokh Janabi-Sharifi, Kourosh Zareinia},
    journal={arXiv preprint arXiv:2407.13162},
    year={2024},
    archivePrefix={arXiv},
    eprint={2407.13162},
    primaryClass={cs.RO cs.CV cs.SY eess.SY}
}