The Integration of Robotic Arm and Vision System With Magnetic Tractor Beam Control for Precision Catheter Manipulation in Medical Procedures

Abstract

This study addresses the challenges of traditional catheterization techniques by integrating UFACTORY's uArm Swift Pro robotic arm with the OpenMV camera module, enhanced by the magnetic tractor beam (MTB) method. The goal is to improve precision, stability, and minimally invasive operation in catheter-based medical procedures. The uArm Swift Pro offers a robust and adaptable platform, while the OpenMV camera provides accurate real-time tracking of catheter tips. To evaluate the system's effectiveness, experimental models replicating realistic anatomical scenarios were created using advanced three-dimensional (3D) printing techniques. Preliminary results demonstrate that this integrated system enhances the accuracy and safety of catheterization, suggesting its potential to advance medical robotics and contribute to more patient-friendly interventions. This work underscores the potential for robotics to revolutionize medical procedures, ensuring better outcomes and reduced patient discomfort.