Minimally invasive robotic surgery has gained significant attention over the past two decades. Telerobotic systems, combined with robot-mediated minimally invasive techniques, have enabled surgeons and clinicians to mitigate radiation exposure for medical staff and extend medical services to remote and hard-to-reach areas. To enhance these services, teleoperated robotic surgery systems incorporating master and follower devices should offer transparency, enabling surgeons and clinicians to remotely experience a force interaction similar to the one the follower device experiences with patients' bodies. This paper presents the design and development of a three-degree-of-freedom master-follower teleoperated system for robotic catheterization. To resemble manual intervention by clinicians, the follower device features a grip-insert-release mechanism to eliminate catheter buckling and torsion during operation. The bidirectionally navigable ablation catheter is statically characterized for force-interactive medical interventions. The system's performance is evaluated through approaching and open-loop path tracking over typical circular, infinity-like, and spiral paths. Path tracking errors are presented as mean Euclidean error (MEE) and mean absolute error (MAE). The MEE ranges from 0.64 cm (infinity-like path) to 1.53 cm (spiral path). The MAE also ranges from 0.81 cm (infinity-like path) to 1.92 cm (spiral path). The results indicate that while the system's precision and accuracy with an open-loop controller meet the design targets, closed-loop controllers are necessary to address the catheter's hysteresis and dead zone, and system nonlinearities.

翻译：微创机器人手术在过去二十年中获得了广泛关注。遥操作机器人系统与机器人辅助的微创技术相结合，使外科医生和临床医生能够减少医护人员的辐射暴露，并将医疗服务延伸至偏远和难以到达的地区。为提升这些服务，包含主从设备的遥操作机器人手术系统应具备透明性，使外科医生和临床医生能够远程体验到与从设备在患者体内所受类似的力交互。本文介绍了一种用于机器人导管介入的三自由度主从遥操作系统的设计与开发。为模拟临床医生的手动操作，从设备采用了一种握持-插入-释放机制，以消除操作过程中导管的屈曲和扭转。对可双向导航的消融导管进行了静态力交互表征，以适用于医疗介入。通过典型圆形、类无穷大形和螺旋形路径的趋近与开环路径跟踪实验评估了系统性能。路径跟踪误差以平均欧几里得误差（MEE）和平均绝对误差（MAE）呈现。MEE范围从0.64厘米（类无穷大路径）到1.53厘米（螺旋路径）。MAE范围也从0.81厘米（类无穷大路径）到1.92厘米（螺旋路径）。结果表明，尽管系统在开环控制器下的精度和准确度达到了设计目标，但仍需采用闭环控制器以应对导管的迟滞和死区以及系统非线性问题。