Closed loop stability analysis of an assistance system for catheterization

Catheterizations are standard procedures of today´s vascular treatment for diagnosis and therapy. To improve navigation even into smaller branches a novel device with haptic feedback assisting during catheterization is currently being developed. One aspect of the design is the identification of possible sources for instability, which is focused on in this paper. This requires the analysis and modeling of the interaction between the device, the patient and the medical staff. The resulting open loop response plotted in Bode-diagram demonstrates areas of possible instabilities. As a result design constrains to guarantee stability in any possible situation is derived