Laser mouse-based master-slave catheter operating system for minimally invasive surgery

In the minimally invasive surgery, the master and slave system benefits a lot to surgeons for it prevents them from exposure of X-ray radiation. However, for robotic catheter operating master-slave system, it´s important to ensure the synchronization between master and slave sides, which means the catheter motion in slave side following the master side surgeon´s operation. Thus, for above consideration, the position controlled master-slave system is introduced in this paper. To accurately detect the catheter movements in master side, a laser mouse based master device is employed. By laser sensor, the catheter´s position changes can be obtained. Besides, the calibrations have been done for laser sensor to measure the catheter´s insertion and rotation. The results show laser sensor has high accuracy. Finally, to synchronize slave equipment with master side, a PID control strategy is adopted to manipulate two step motors which are responsible for inserting and rotating catheter respectively. The experimental results demonstrate that the PID control method makes the catheter motions in slave side two motors moving closely according to master side.