Master-slave robotic surgical system and method
A system comprising a platform assembly comprising a master platform and a slave platform, both the master platform and the slave platform being moveable, the platform assembly further comprising a force feedback control arrangement for applying a force to the master platform in response to a force exerted on a slave device mounted on the platform.
1. A system comprising:
a platform assembly comprising a master platform and a slave platform, both the master platform and the slave platform being moveable, the platform assembly further comprising a force feedback control arrangement for applying a force to the master platform in response to a force exerted on a slave device mounted on the slave platform,
wherein the master platform is adapted to support a master device, and the slave platform is adapted to support the slave device, and
wherein the slave device includes a catheter and the master device includes a hollow tube, coaxially mounted with respect to the catheter, and in use, axially overlapping with the catheter.
2. A system according to claim 1 comprising a movement control arrangement for causing the slave platform to move in response to movement of the master platform.
3. A system according to claim 1 wherein, in use, the master device is engageable with the slave device.
4. A system according to claim 1 wherein the slave device comprises a key engageable with a keyway formed in the master device.
5. A system according to claim 1 wherein the slave platform and the master platform are both independently moveable.
6. A system according to claim 1 comprises a first actuator operatively connected to the slave device for enabling movement of the slave platform.
7. A system according to claim 1 comprising a movement detector having a first movement component mounted on the master platform, and a second movement component mounted on the slave platform.
8. A system according to claim 1 comprising a strain gauge mounted at a proximal end of the slave device.
9. A system according to claim 1 comprising a force sensor for measuring force between the master device and the master platform.
10. A system according to claim 1 comprising a second actuator operatively connected to the master device for applying resistive force to the master device in response to forces applied to a distal portion of the catheter.
11. A system according to claim 1 comprising a switch for enabling activation/deactivation of the force feedback control arrangement.
12. A method according to claim 1 for inserting a catheter into a vessel in a human or animal body using a system according to any one of the preceding claims.
13. A system according to claim 7 comprising a first controller operatively connected to the movement detector and to the first actuator to form the movement control arrangement.
14. A system according to claim 8 comprising a second controller operatively connected to the strain gauge, the force sensor and the second actuator to form the force feedback control arrangement.
15. A system comprising:
a platform assembly comprising a master platform and a slave platform, the slave platform being adapted to move in response to movement of the master platform, the system further comprising a master device, and a slave device,
wherein the slave device includes a catheter and the master device includes a hollow tube, coaxially mounted with respect to the catheter, and in use, axially overlapping with the catheter whereby, in use, the master device is engageable with the slave device.
16. A system according to claim 15 comprising a force feedback control arrangement for applying a force to the master platform in response to a force exerted on the slave device.
17. A system according to claim 15 comprising a movement control arrangement for causing the slave platform to move in response to movement of the master platform.