A feedback system for Autonomous Catheter Insertion path reconstruction was developed using Magnetic a Motion Capture Sensor (MMCS) and Linear Stepping Mechanism (LSM).
From the association of space position coordinates with actions to be done by the LSM at those positions, a map of reference points was built to control the LSM in order to reproduce automatically catheter insertions paths.
Catheter insertion paths were reconstructed automatically inside arterial silicon models of carotid and sub-clavian arteries with an accuracy of 7 mm.
