Realization of a Catheter Driving Mechanism with Micro tactile sensor for Intravascular Neurosurgery

MIS (minimum invasive surgery) as a new method for intravascular neurosurgery has attracted most of doctors and patients in recent years. But there are several problems in intravascular neurosurgery: doctors´ operating under X-ray, few well skilled doctors and high risk of the catheter insertion. In order to solve these problems, we develop a highly precise remote control system by a Master-Slave system. A simple micro tactile sensor helping us to feel the contact force is also developed for this system. In this paper, we expatiate on the design concept of the system and carry out experiments to test the precision of the system and the characteristic of the tactile sensor. The experiment results basically achieve our design purpose.