Danger avoiding method based-a novel catheter operating system

We have developed a novel catheter operating system with danger avoiding method in this paper, which included a highly precise master-slave remote control system. We used micro force sensors to realize haptic feedback, and used web camera and developed algorithm to realize visual feedback, with the help of visual and haptic feedback, surgeons can avoid danger effectively in the process of minimally invasive surgery (MIS). Using the developed mater-slave system, surgeons can avoid being radiated from X-ray. We carried out the operation simulation experiments to prove the efficiency that developed danger avoiding method, the experimental results indicated that the developed danger avoiding method can avoid danger effectively. Using the developed danger avoiding method we can improve the safety of the catheter operating system for medical application.