Force/Torque Sensor for Tele-operated Catheterization Procedures

Abstract A tele-operated robotic catheterization system can significantly alleviate the surgeons from radiation exposure and fatigue resulted from long standing time with protective suits. Proximal force/torque signals imply the critical information about the contact forces between the catheter and its surrounding structures. This paper presents a compact, cost-effective force and torque sensing device suitable for catheterization procedures to measure the … Continue reading

Ultrasound Assisted Guidance with Force Cues for Intravascular Interventions

Project Goals Image guidance during minimally invasive cardiovascular interventions is primarily achieved based on X-ray fluoroscopy, which has several limitations including limited 3D imaging, significant doses of radiation to operators, and lack of contact force measurement between the cardiovascular anatomy and interventional tools. Ultrasound imaging may complement or possibly replace 2D fluoroscopy for intravascular interventions due to its portability, safety, … Continue reading