A force feedback system for endovascular catheterisation

Payne, Christopher J.; Rafii-Tari, Hedyeh; Yang, Guang‐Zhong

doi:10.1109/iros.2012.6386149

Cited by 83 publications

(42 citation statements)

References 15 publications

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“…Haptic feedback and tactile sensing is an important topic of ongoing research in both academia and industry, including MIS systems [95,96], neurosurgery [97] and the endovascular system [98]. For example, reference [98] proposed a master-slave force feedback system for endovascular catheterization that can be used in a natural setting with enhanced ergonomics.…”

Section: Haptic Feedback and Tactile Sensing Systemmentioning

confidence: 99%

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Endomicroscopy for Computer and Robot Assisted Intervention

Zuo

Yang

2017

IEEE Rev. Biomed. Eng.

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Abstract-Endomicroscopy is a new technique that allows human tissue to be characterized in vivo, and in situ, circumventing the need for conventional biopsy and histology. Despite increased application and growing research interests in this area, the clinical application of endomicroscopy, however, is limited by difficulties in ergonomic control, consistent probe-tissue contact, large area surveillance and retargeting. Recently, advances in high-speed imaging, mosaicing and robotics have aimed to address these difficulties. The development of robot-assisted devices in particular has shown great promises in extending the clinical potential of endomicroscopy. Issues related to miniaturization, adaptation to tissue deformation, control stability, force and position compensation, cost and sterility are being pursued by both research and commercial communities. In this paper, recent clinical and technical developments in different aspects of computer and robotic assisted endomicroscopy interventions including instrumentation, multiscale integration, and high-speed imaging techniques are presented. We further address emerging trends and new research opportunities towards more widespread clinical acceptance of robotically assisted endomicroscopy technologies.

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Section: Haptic Feedback and Tactile Sensing Systemmentioning

confidence: 99%

“…For example, reference [98] proposed a master-slave force feedback system for endovascular catheterization that can be used in a natural setting with enhanced ergonomics. Force feedback is based on strain input from the catheter tip deflection.…”

Section: Haptic Feedback and Tactile Sensing Systemmentioning

confidence: 99%

Endomicroscopy for Computer and Robot Assisted Intervention

Zuo

Yang

2017

IEEE Rev. Biomed. Eng.

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“…As researchers in [14] have pointed out, ideal catheterization training systems should be designed with consideration given to conventional catheter-handling skills used in a real endovascular interventional surgery. In this paper, we focused mainly on the design of a master controller to allow the interventionalists to employ an actual catheter, as the controller, to carry out training courses with force feedback in an ergonomic, compact and simple setting.…”

Section: Methodsmentioning

confidence: 99%

“…The Sensei robotic navigation system [10,11] (Hansen Medical, Mountain View, Calif) and the Niobe magnetic navigation system [12,13] (Stereotaxis, St. Louis, Mo) are two typically commercial surgical robotic systems that have been used in endovascular interventional surgery with electromechanical bases and magnetically controlled mechanisms of action. They have been successfully used in different clinical applications including cardiac ablation and endovascular aneurysm repair [14]. However, there are several limitations to the application of these commercial products.…”

Section: Introductionmentioning

confidence: 99%

Design and performance evaluation of a master controller for endovascular catheterization

Guo

Tamiya

et al. 2015

Int J CARS

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“…Several CoRs for RVIS have been developed in recent years [7][8][9][10][11][12][13][14][15][16][17][18]. However, most of the existing CoRs are still in the development stage or test stage, far from being commercial product for clinical application.…”

Section: Tsai@buaaeducnmentioning

confidence: 99%

A New Design of Two-Fingered Catheter Operating Robot for Vascular Interventional Surgery

Cai¹,

Sun

Guan

et al. 2017

IJARA

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It is of great value to design and develop CoR (Catheter-operating Robot) that can substitute a physician to manipulate a catheter in robotic-assisted vascular surgery. In this paper, we designed a new two-fingered CoR to simulate the catheter manipulation by a surgeon with thumb and forefinger, where the rotation and twist motions of the robotic fingers can achieve the conventional push / pull and rotation operation of the catheter respectively, and the open/close motion can achieve the rapid replacement of the catheter or operator. With the novel 'parts reuse' design, as few parts as possible are employed to achieve the two-finger movement in the mechanism structure, which lays a foundation for the miniaturization of the CoR in future. This paper first introduces the design and development of the proposed CoR, and then develops a CoR prototype. The operation precision of the CoR is analyzed by a quantitative experiment, and then a vitro-experiment is carried out to evaluate the validity of CoR in the robot assisted VIS with a glass vascular model. The experimental results show that CoR has the advantages of flexible control and high positioning accuracy, which is convenient for catheter control.

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A force feedback system for endovascular catheterisation

Cited by 83 publications

References 15 publications

Endomicroscopy for Computer and Robot Assisted Intervention

Endomicroscopy for Computer and Robot Assisted Intervention

Design and performance evaluation of a master controller for endovascular catheterization

A New Design of Two-Fingered Catheter Operating Robot for Vascular Interventional Surgery

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