Mechanical analysis and haptic simulation of the catheter and vessel model for the MIS VR operation training system

The specialized surgical technique MIS that permits vascular interventions through very small incisions and minimizes the patients' trauma and permits a faster recovery compared to traditional surgery and it permits vascular interventions through very small incisions. In this paper, we present the mechanical analysis and haptic simulation of the catheter and vessel model for the MIS VR operation training system, this is based on virtual reality technology for unskilled doctors with extremely similar environment in real vascular interventional surgery to assess the clinical usefulness, accuracy, and safety of telemanipulation for vascular interventional surgery. It can be used for the interns to do the operation in local or remote training. It consists of a master controller system and the catheter manipulator placed at the patient side. The master side is the Robotic Catheter Master System, and slave side is the Virtual Reality based Robotic Catheter System. We want to build the vessel model, realize the 3D image output and catheter control of the Virtual Reality System. This application allows generating realistic geometrical model of catheter and model of blood vessels, and force feeling of surgeons to touch, and manipulates virtual catheter inside vascular model through the same surgical operation mode used in actual one. Finally, we complete the analysis and simulation of catheter control and mechanical design of the Virtual Reality based Robotic Catheter System and the experimental results show that the system can be used for surgery training.