Development of a doctor´s finger motion measurement device for a remote catheter operating system

Minimally invasive surgery is expected to become increasingly popular in medical practice, both for diagnosis and for surgery. However, there are some problems. For example, doctor´s hands and faces are exposed to X-rays during an operation. To solve these problems, researches of robotic systems for minimally invasive surgery assistant have been carried out widely. The purpose of this paper is to develop the method of control for a remote catheter system with doctor´s finger motion measurement device. The catheter insertion was measured using the acceleration sensor and the catheter rotation was measured using the flex sensor. We carried out the experiments which showed the insertion operation between the novel device and the slave side which was developed in our lab. The above results verified the effectiveness of new methods for the slave side control.