Introduction - Microsurgery: Advances, Simulations, and Applications - page 17

Telesurgery was proposed for endovascular surgery not only
for overcoming the surgical constrains but also as an alternative
to reduce X-ray exposure of surgeons during the intervention. In
this case, the catheter is driven by the slave mechanism while the
physician controls the slave device using a specialized joystick that
is placed away from the luoroscope. Slave catheter insertion devices
were developed by Tanimoto et al . [52], Arai et al . [53], Ikeda et al .
[54], and Jayender et al . [55]. In the irst generation proposed in
[52], catheter grasping was based on gum rollers and the feedback
of catheter position was given using encoders. Jayender et al . [55]
proposed a device in which the feedback is given by accelerometers
placed on the joints of a robot arm. Also magnetically steerable
catheters and catheter insertion systems are available in the market
[56], but they have not spread widely as DaVinci robot (Figs. 1.15-
1.18).

Figure 1.15 Master device for remote operation in neurosurgery.

Roller

Catheter

Strain gauge
(Rotation)

Micro Force Sensor

Strain gauge
(Forward and Backward motion)

a)

Thin Beam

b)

Figure 1.16 Slave device: (a) Structure and (b) mechanism.