Development of foolproof catheter guide system based on mechatronic design

Minimally Invasive Surgery (MIS) techniques are a less invasive procedure than open surgery, usually involving laparoscopic devices, remote control manipulation instruments with indirect observation of the surgical field through endoscope or similar devices. Interventional Radiology (IVR) is one of the MIS methodologies. IVR procedures are for diagnostic purposes such as angiogram, and others are for treatment purposes. IVR procedure use small tubes called catheter or needles which will be inserted through body and guided to treatment area. Images from Digital Subtraction Angiography (DSA) device are used to guide IVR procedure. Conducting IVR procedure, the surgeons ended with the risk of exposure to X-rays from the DSA device. Therefore, to prevent the risk of exposure to X-rays, a tele-operated system to guide catheter or needles is developed based on a mechatronic design. The mechatronic design is specified in the form of a principle solution using a specification technique as in the software tool Mechatronic Modeller. Such principle solution serves as a basis for the first analysis, verification and validation on the systems level, and at the same time the initial point of specific concretization within the different domains. In particular, the proposed concept of control system can be re-used in the other guidance systems.