CathROB: A Highly Compact and Versatile Remote Catheter Navigation System

Table 2

Description of GUI functionalities.

Block	GUI component	Function description
(1) Start/stop commands	START softkey	To start the automatic CathROB movements for system set-up; (no catheter mounted on)
	STOP softkey	To stop all CathROB movements
	CATHETER slider	To select the catheter model to be remotely controlled by CathROB
(2) CathROB status	E-STOP led	To indicate an emergency stop
	MOTOR CURRENT led	To indicate an abnormal current absorption by motors
	ROB On led	To indicate that CathROB is in on-state
	ENABLE led	To indicate that the operator is using the command interface
	CALIBRATING led	To indicate that calibration procedure for the force; sensor is in progress
	OK led	To indicate that calibration was successful
	NAVIGATING led	To indicate that the user is performing remote catheter navigation
	MEMO led	To indicate that the user is saving endocardial target positions via the command interface
	REPOSITIONING led	To indicate that the system is performing the automatic catheter repositioning to memorized targets
	L, R, S led	To indicate that repositioning has been completed for longitudinal (L), rotational (R), and tip-steering (S) movements
(3) Targets of interest	Home/T1/T2/T3/T4 indicators	To display the coordinates of the targets saved during navigation via the command interface
	LSPV, RSPV, LIPV, RIPV softkeys	To load in the system memory four predefined endocardial sites (corresponding to the pulmonary veins)
(4) CathROB display	ADVANCE/WITHDRAWAL; CW/CCW; BEND/STRAIGTHEN indicators	To display the real-time CathROB movements along each DOF
	MIN, MEDIUM, MAX selectors	To change motor velocities in each DOF
	S/H led	To indicate when the actuators reach software/hardware; limit switches
(5) Force sensing	FORCE graph	To display the force signal measured by the force sensor
	SAFETY ALARM led	To indicate that force exceeds the set alarm threshold
	SAFETY STOP led	To indicate that force exceeds the set stop threshold