POSITION TRACKING METHOD FOR VASCULAR TREATMENT MICRO ROBOT BY CONSIDERING DEFORMABILITY OF CORONARY ARTERY

摘要

PURPOSE: A method for tracking the position of a micro robot for vascular treatment is provided to determine a relative local position of a catheter by receiving a signal from a position sensor. CONSTITUTION: A catheter(28) is inserted into a vascular structure of a heart by an operator. The catheter has a steering mechanism(41) which is selectively controlled by a robot manipulator(31). The manipulator receives a control signal from a positioning processor(36) which is located in a console(34). A system(20) includes a positioning sub system which measures the local position and azimuth coordinate of the catheter. The positioning processor calculates the local position and azimuth of the catheter.