Multifunctional Micro Catheter Tele-operation System for Reduction of Burden of Patients and Doctors

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(1) Master Slave SystemWe developed a slave device to teleoperate the catheter and guide wire independently. It has two degree-of-freedom, that is, one for forward and backward motion and one for rotation. We proposed a linear drive mechanism for forward and backward drive using examples from the mechanical pencil mechanism. Compared with the conventional roller mechanism, safety is improved. Moreover, wiring for rotation is simplified. Movement of the catheter by a single knock is adjusted electronically. Forward motion or backward motion is selected by the computer control. The minimum step resolution is 0.1 mm in both directions and position accuracy is greatly improved. We also attached the safety mechanism to release the catheter. When the diameter of the catheter changes, we change the mechanical fastener appropriately. The part which contacts with the catheter is detached easily. Sterilization operation is possible by changing the fastener.(2) Micro Contact SensorWe developed a micro contact sensor of 1 mm diameter which can be set at the tip of catheter. This sensor is excited with the resonant frequency by the piezoelectric thin film actuator. When it contacts with the object, mechanical impedance is changed, and the change is detected by the sensing function of the piezoelectric thin film. The film is deposited on the titanium substrate by the hydro thermal method. We succeeded in detection of contact state based on the impedance change before and after contact.(3) Teleoperated Medical SystemWe developed the teleoperation system using a master and slave devices. We fabricated a transparent blood vessel model with inner hole with the silicone elastomer. We simulated intravascular neurosurgery with this model and evaluated the proposed system. The catheter reached the goal position and we confirmed effectiveness of the proposed system.