REMOTE CONTROL SYSTEM FOR CATHETER WITH REACTIVE FORCE SENSING

摘要

PURPOSE: A remote control system for catheters a reactive force sensing is provided to reduce the amount of radiation and to make an effective feed-back control possible. CONSTITUTION: A remote control system for catheters consists of a slave unit(100), a master unit(200), an auxiliary rectilinear motion unit(400), and a control part. The control part controls the force applied to a master unit and the linear momentum and the rotary momentum of the slave unit to have a linear relation. The controller senses a reaction force applied to the end of the catheters and conducts a feedback control thereto.