介入式心導管手術屬於微創手術(Minimally Invasive Surgery, MIS)。此類型的手術方式有減少術後疼痛、降低傷疤面積、縮短恢復時間、減少住院時數等重大優點。所以近年來已廣泛應用於多種手術療程。但對於執行手術的醫生而言，不能如以往的外科手術直接觀察病人身體的內部，只憑X光或其他醫療影像輔助觀察手術工具於患者身體內的位置來完成手術是困難且需要練習。醫師面對到新的手術技巧或工具，一般只能藉由所謂師徒制之下學習經驗。所以醫師的經驗、熟悉度、手部技巧將直接影響手術的成功與病人安危。
本論文的研究中提出一套導管在血管內運行的虛擬模擬系統，在單軸機械平台的控制設計下，使用者可以反覆練習，訓練手部技巧。虛擬場景圖片感應導管位置給予使用者視覺上的立即回饋；藉由控制導管位置給予使用者手部力道上有阻力的回饋感受，可以讓使用者有真實在執行手術的感覺。練習結束後系統將自行產生使用過程的數據，例如:錯誤次數、練習時間、推力值、拉力值等數據以供紀錄，未來希望可以結合教育課程做成虛擬病人或手術技巧認證之用。

Cardiac catheterization and Interventional Surgery is one of minimally invasive surgery (MIS). There are many advantages of MIS, such as reducing post-procedural pain, reducing scarring, shorten recovery time and hospital stays. This kind of surgery can be applied to many different surgery procedures. Unlike traditional surgery, clinicians could only detect the catheter position in human body by X-ray angiography. It is hard to operate the therapy procedures especially for clinicians with few surgery experiences.
In this study, we provide a simulation system for clinicians to practice catheter operation skills. The system simulates the surgery situation which catheter shifts in blood vessel. From the mechanical design, the movement force and rotation angle can be detected and measured. To perform visual feedback function, system provides the virtual surgery scenes which shows the movements of catheter real time. From the servo motor position control, the system provides the users the feeling of force feedback. Users can gain the experience through operating the system repeatly. After the end of practice, system will record user’s operative statistics like mistake times, procedure time, force value for pulling or pushing.

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