Control system development for robotic cardiac catheterization

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There is a major demand for reducing costs of healthcare systems while improving safety of operations for both patients and healthcare staff. Among the major health problems, cardiovascular disease is the most common cause of morbidity and mortality in Canada with estimated costs of its treating exceeding $20.9 billion per year paid for by the Canadian taxpayers. Treatment of many cardiac issues requires introduction of the catheterization equipment. The current state of the technology allows the procedures to be performed manually under X-ray guidance exposing patients, nurses, and doctors to harmful effects of radiation. One of the main difficulties in such operations is the manual control of the long flexible catheter from its one end by the physician. This difficulty contributes to prolonged procedure duration with increased radiation exposure for the