抄録
A catheterization is one of the minimally invasive surgery. In the catheterization, X-ray fluoroscopy helps surgeons to track the point of a catheter tip, therefore they have to be exposed to radiation all the time. Catheterization requires adequate skills and experiences, and the technical gap among surgeons is huge. To solve it, the automatic system which guides a catheter to the target area is needed. In this paper, we propose the simple module device which inserts a catheter using friction wheel mechanism. This device can make a catheter rotate and translate in itself. It is designed to prepare simply and prevent a catheter from slipping by heparinized saline. The experimental result shows that the device has high positioning accuracy of a catheter.
