Design of a haptic display for catheterization

摘要

Navigating a catheter inside the patient and orientation during this procedure is mainly dependent on a live x-ray image. Although methods for 3D visualization and remote navigation of the catheter are emerging and subject to tests, still precise positioning is merely the result of intense training and high skills of the performing surgeon. A novel assistance-system intends to provide measured force data from the tip of a guide wire and display them as feedback to the performing surgeon. It is intended to build a simulator giving a first impression of the feel and touch of such an assistance. For this simulator a haptic display is needed. This article refers to design methods and the actual structure of this display. It has to be capable applying torque and force on the catheter. General technical requirements are presented. The realized prototype itself is shown and the experience made is presented.