A lot of procedures where a catheter is used, a person moves the guidewire by hand. During this procedure, medical staff are exposed to harmful X-rays. To increase the safety for staff, surgical robots are designed to perform this procedure. Current machines show promising results, but a major problem is their size.
A lighter and smaller catheter drive system can increase use cases, such as fully remote surgery.
The goals of this assignment are to design a compact 2-DOF end effector catheter drive system that can feed/retract and rotate the catheter guidewire, and to test the catheter drive system and characterise the accuracy in the two independent DOFs.