Ali A. Nazari, Jeremy Catania, Soroush Sadeghian, Amir Jalali, Houman Masnavi, Farrokh Janabi-Sharifi, Kourosh Zareinia
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The follower device uses a grip-insert-release mechanism to prevent catheter buckling and torsion, mimicking real-world manual intervention. Performance is evaluated through open-loop path tracking on circular, infinity-like and spiral paths.</p>\n </section>\n \n <section>\n \n <h3> Results</h3>\n \n <p>Path tracking errors, mean Euclidean error (MEE) and mean absolute error (MAE), range from 0.64 to 1.53 cm (MEE) and 0.81–1.92 cm (MAE) for different paths.</p>\n </section>\n \n <section>\n \n <h3> Conclusion</h3>\n \n <p>While the system meets precision and accuracy targets with an open-loop controller, closed-loop control is needed to address catheter hysteresis, dead zones and nonlinearities.</p>\n </section>\n </div>","PeriodicalId":50311,"journal":{"name":"International Journal of Medical Robotics and Computer Assisted Surgery","volume":"21 3","pages":""},"PeriodicalIF":2.3000,"publicationDate":"2025-05-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://onlinelibrary.wiley.com/doi/epdf/10.1002/rcs.70073","citationCount":"0","resultStr":"{\"title\":\"A Master-Follower Teleoperation System for Robotic Catheterisation: Design, Characterisation and Tracking Control\",\"authors\":\"Ali A. 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A Master-Follower Teleoperation System for Robotic Catheterisation: Design, Characterisation and Tracking Control
Background
Over the past 2 decades, telerobotic systems with robot-mediated, minimally invasive techniques, have mitigated radiation exposure for medical staff and extended medical services to remote areas. To enhance these services, master-follower telerobotic systems should offer transparency, enabling surgeons and clinicians to feel force interactions similar to those the follower device experiences with patients' bodies.
Methods
We present a three-degree-of-freedom master-follower teleoperated system for robotic catheterisation. The follower device uses a grip-insert-release mechanism to prevent catheter buckling and torsion, mimicking real-world manual intervention. Performance is evaluated through open-loop path tracking on circular, infinity-like and spiral paths.
Results
Path tracking errors, mean Euclidean error (MEE) and mean absolute error (MAE), range from 0.64 to 1.53 cm (MEE) and 0.81–1.92 cm (MAE) for different paths.
Conclusion
While the system meets precision and accuracy targets with an open-loop controller, closed-loop control is needed to address catheter hysteresis, dead zones and nonlinearities.
期刊介绍：
The International Journal of Medical Robotics and Computer Assisted Surgery provides a cross-disciplinary platform for presenting the latest developments in robotics and computer assisted technologies for medical applications. The journal publishes cutting-edge papers and expert reviews, complemented by commentaries, correspondence and conference highlights that stimulate discussion and exchange of ideas. Areas of interest include robotic surgery aids and systems, operative planning tools, medical imaging and visualisation, simulation and navigation, virtual reality, intuitive command and control systems, haptics and sensor technologies. In addition to research and surgical planning studies, the journal welcomes papers detailing clinical trials and applications of computer-assisted workflows and robotic systems in neurosurgery, urology, paediatric, orthopaedic, craniofacial, cardiovascular, thoraco-abdominal, musculoskeletal and visceral surgery. Articles providing critical analysis of clinical trials, assessment of the benefits and risks of the application of these technologies, commenting on ease of use, or addressing surgical education and training issues are also encouraged. The journal aims to foster a community that encompasses medical practitioners, researchers, and engineers and computer scientists developing robotic systems and computational tools in academic and commercial environments, with the intention of promoting and developing these exciting areas of medical technology.
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