Catheter Insertion Mechanism and Feedback Control using Magnetic Motion Capture Sensor

Autonomous catheter insertion systems are desirables in fields of cardiology and neurology to reduce the use of X-rays during catheter insertion surgeries. A key point to reach an autonomous catheter insertion system is to provide to a catheter insertion mechanism enough information about the catheter tip position and speed to change its motion according to a predefined point in space to choose a path, and according to the catheter tips speed to detect if the catheter is jammed. In this research we propose the use of magnetic motion capture sensor to provide this information feedback to a catheter insertion mechanism. The system was tested inside a silicon solid arterial model, a silicon membranous arterial and ureter silicon membranous models to simulate a catheter insertion surgery in the upper aorta and inside the kidney. The system changed its motion successfully during the insertions along the models depending on the sensor position compared to a software map of the organ model, also automatic reconfigurations of the motion of the system were done using the speed of the sensor as feedback source