A Master-Follower Teleoperation System for Robotic Catheterisation: Design, Characterisation and Tracking Control.

Journal: The international journal of medical robotics + computer assisted surgery : MRCAS
Published Date: Jun 1, 2025

Abstract

BACKGROUND: Over the past 2 decades, telerobotic systems with robot-mediated, minimally invasive techniques, have mitigated radiation exposure for medical staff and extended medical services to remote areas. To enhance these services, master-follower telerobotic systems should offer transparency, enabling surgeons and clinicians to feel force interactions similar to those the follower device experiences with patients' bodies.

Authors

  • Ali A Nazari
    Department of Mechanical and Industrial Engineering, Ryerson University, Toronto, Ontario, Canada.
  • Jeremy Catania
    Department of Mechanical, Industrial and Mechatronics Engineering, Toronto Metropolitan University, Toronto, Canada.
  • Soroush Sadeghian
    Department of Computer Science, Toronto Metropolitan University, Toronto, Canada.
  • Amir Jalali
    Department of Mechanical, Industrial and Mechatronics Engineering, Toronto Metropolitan University, Toronto, Canada.
  • Houman Masnavi
    Department of Mechanical, Industrial and Mechatronics Engineering, Toronto Metropolitan University, Toronto, Canada.
  • Farrokh Janabi-Sharifi
    Department of Mechanical and Industrial Engineering, Ryerson University, Toronto, Ontario, Canada.
  • Kourosh Zareinia
    Department of Mechanical and Industrial Engineering, Ryerson University, Toronto, Ontario, Canada.

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