Intuitive Teleoperation Device for Neuroendovascular Surgery.

REHAssist - EPFL

September-January 2022

Removing blood clots requires high dexterity, while the X-rays needed to see the procedure are harmful for the surgeon. Force feedback teleoperation is a solution that does not compromise dexterity or safety.

Approach

Two scroll wheels for catheter translation and rotation control with force feedback improve the surgeon's understanding and control of their actions.

Design exploration

Functional decomposition.
Morphological matrix.
Decision-making matrix.

Mechanical sizing and design

Load calculation.
Desired force feedback.
Required precision.

Mechanical sizing and bearing design for the teleoperation device

Results

Fabrication and assembly.
The device reaches a precision of 100 um.
The device provides force feedback up to 10 N.

Final teleoperation device for neuroendovascular surgery

Patent pending EP25181805