Haptic Assisitive System for Heart Catheterizations

• Applicant: Professor Dr.-Ing. Roland Werthschützky
• Subject Area: Measurement Systems ; Automation, Mechatronics, Control Systems, Intelligent Technical Systems, Robotics
• Term: from 2012 to 2018
• Project identifier: Deutsche Forschungsgemeinschaft (DFG) - Project number 212414892

The subject of the research project is the design and implementation of a force-feedback haptic assistance system for catheterization in medical diagnostics and therapy. By using this assistance system, the navigation of a guide wire in the coronary vessels is facilitated. Furthermore, the possibility of intuitive working by the cardiologist is supported. The approach is based on both a force measurement at the guide wire tip and a haptic control unit integrated in the treatment process, in which the force signals are scaled applied. The requested continuation of the transfer project based on the results of the three years transfer research work by the applicant which is supported by the DFG. The aim of this project was the transfer of the achieved research results and the prototype assembling of the force sensing guide wire. A miniaturized tactile control unit having one translational degree of freedom was developed. In addition, an extracorporeal force sensor for navigation was designed, built and integrated in the handpiece (Torquer) of cardiologist. The quality of the haptic feedback could be significantly increased due to this unplanned by the additional force control. A first sample of the haptic assistant system was characterized and the requirements compliance verified.The main reasons for requesting an additional 4th project year are: 1. Time delays of approximately one year in the preparation of the proposed chip simples by unpredictable technological problems at the chip providers. 2. Insufficient reproducibility in the guide wire assembly in particular through deficits in the wire feeding in the guide wire.As a result were not enough functional guide wires disposal at the intended test of the haptic assistance system of the vessel model, as well as at the medical assessment by expert and presentation at fairs. The elimination of the identified deficits is the focus of the requested 4th year.

• DFG Programme: Research Grants (Transfer Project)
• Application Partner: EPflex Feinwerktechnik GmbH