Towards a Robust Steerability Magnetic Catheter with Haptic Force Feedback and Virtual Reality

The catheter that integrates electronic components for sensing and actuation presents some limits due to the mis-leading information consequently inducing delays and instability. Besides, the relatively high cost and the fixed dimension, strongly hold back their miniaturization for an implementation in new biomedical applications like targeted delivery. We propose a hap-tic architecture combined Virtual Reality (VR) for the magnetic navigation of catheter inside a vascular network that facilitates basic navigation with a high precision. VR was incorporated into the system, allowing the user to control the catheter from a more intuitive standpoint and provide a description of the nature, texture and intensity of collision in real-time. The kinematics, dynamics and the contact forces derived respectively from the modified Denavit-Hartenberg (DH), Euler-Lagrange and spring-damper are used to establish the closed loop inverse dynamic control of the virtual model which is validated to support the real prototype being controlled in open loop.