Haptic rendering of device and patient impedances in catheter-based simulation

The complexity of devices used for endovascular interventions has grown rapidly in the last decade. While older simulations render simpler devices such as wires, catheters, stents, and balloons, current simulations need to haptically render the dynamics of devices which may not feel passive. This paper describes the control strategy for the SimSuite haptic platform and some of its mechanical characteristics.