Abstract：The traditional endovascular minimally invasive surgery needs surgeons to be present in the operating room, suffering from X-ray radiation.Also,the traditional catheter is so inflexible to manipulate that it requires doctors to have adequate skills of catheterization.For this problem,a positionable robotic catheter with two electromagnetic sensors is developed, and the D-H method is adopted to perform the kinematic analysis.Meanwhile a set of customized interventional mechanisms are designed to substitute the surgeon to manipulate the catheter,and a master-slave control method is developed to implement master-slave intervention with this system.In the procedure,the surgeon uses master handle to control interventional mechanisms to pull/push,rotate and bend the catheter,and accomplishes the procedure of catheterization with the assistance of guiding image.Experiments demonstrate that the steerable catheter has good manipulation,and interventional mechanisms can achieve three operations with higher positioning accuracy,besides the master-slave method can guarantee the safety of surgeons in the procedure.
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