A Novel Vascular Intervention Surgical Robot Based on Force Feedback and Flexible Clamping

Yu, Haoyang; Wang, Hongbo; Chang, Jingyuan; Niu, Jianye; Wang, Fuhao; Yan, Yonggan; Tian, Hesuo; Fang, Junyu; Lu, Haixia

doi:10.3390/app11020611

Cited by 28 publications

(12 citation statements)

References 30 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…Based on PID control, the setting of fuzzy rules to dynamically adjust the PID controller parameters can realize more sensitive and stable fuzzy adaptive PID control. Wang et al of Yanshan University applied a fuzzy PID controller in their surgical robotic system, and the fuzzy PID controller showed better performance than the traditional PID controller (60,61).…”

Section: Control Methodsmentioning

confidence: 99%

Remote vascular interventional surgery robotics: a literature review

Zhao¹,

Mei²,

Luo³

et al. 2022

Quant Imaging Med Surg

View full text Add to dashboard Cite

Vascular interventional doctors are exposed to radiation hazards during surgery and endure high work intensity. Remote vascular interventional surgery robotics is a hot research field, in which researchers aim to not only protect the health of interventional doctors, but to also improve surgical accuracy and efficiency. However, the current vascular interventional robots have numerous shortcomings, such as poor haptic feedback, few compatible surgeries and instruments, and cumbersome maintenance and operational procedures. Nevertheless, vascular interventional surgery combined with robotics provides more cuttingedge directions, such as Internet remote surgery combined with 5G network technology and the application of artificial intelligence in surgical procedures. To summarize the developmental status and key technical points of intravascular interventional surgical robotics research, we performed a systematic literature search to retrieve original articles related to remote vascular interventional surgery robotics published up to December 2020. This review, which includes 113 articles published in English, introduces the mechanical and structural characteristics of various aspects of vascular interventional surgical robotics, discusses the current key features of vascular interventional surgical robotics in force sensing, haptic feedback, and control methods, and summarizes current frontiers in autonomous surgery, long-distance robotic telesurgery, and magnetic resonance imaging (MRI)-compatible structures. On the basis of summarizing the current research status of remote vascular interventional surgery robotics, we aim to propose a variety of prospects for future robotic systems.

show abstract

Section: Control Methodsmentioning

confidence: 99%

Remote vascular interventional surgery robotics: a literature review

Zhao¹,

Mei²,

Luo³

et al. 2022

Quant Imaging Med Surg

View full text Add to dashboard Cite

show abstract

“…Based on PID control, setting fuzzy rules to dynamically adjust the PID controller parameters can realize more sensitive and stable fuzzy adaptive PID control. Wang et al of Yanshan University applied a fuzzy PID controller in their surgical robot system and the fuzzy PID controller of them shown better performance than the traditional PID controller [58,59].…”

Section: Control Methodsmentioning

confidence: 99%

Remote Vascular Interventional Surgery Robotics: A Literature Review

Mei¹

2022

Preprint

View full text Add to dashboard Cite

Interventional doctors are exposed to radiation hazards during the operation and endure high work intensity. Remote vascular interventional surgery robotics is a hot research field that can not only protect the health of interventional doctors, but also improve accuracy and efficiency of surgeries. However, the current vascular interventional robots still have many shortcomings to be improved. This article introduces the mechanical structure characteristics of various fields of vascular interventional therapy surgical robots, discusses the current key features of vascular interventional surgical robotics in force sensing, haptic feedback, and control methods, summarizes current frontiers about autonomous surgery, long geographic distances remote surgery and MRI-compatible structures. Finally, combined with the current research status of vascular interventional surgery robots, this article analyzes the development directions and puts forward a vision for the future vascular interventional surgery robots.

show abstract

“…Zhou et al proposed a kind of constraint tube with thin-film sensor and gave the robot motion safety strategy with nine different motion constraint coefficients [16]. Yu et al designed a new type of flexible clamping device to push the guidewire, which greatly improved the precision and stability of surgery [17]. Zhang et al developed a magnetorheological fluid (MR)based robot-assisted catheter/guidewire surgery system that increases the reality of the operation [18].…”

Section: Introductionmentioning

confidence: 99%

An Intravascular Catheter Bending Recognition Method for Interventional Surgical Robots

Wei

Yang

et al. 2022

Machines

View full text Add to dashboard Cite

Robot-assisted interventional surgery can greatly reduce the radiation received by surgeons during the operation, but the lack of force detection and force feedback is still a risk in the operation which may harm the patient. In those robotic surgeries, the traditional force detection methods may have measurement losses and errors caused by mechanical transmission and cannot identify the direction of the force. In this paper, an interventional surgery robot system with a force detection device is designed and a new force detection method based on strain gauges is proposed to detect the force and infer the bending direction of the catheter in the vessel by using BP neural network. In addition, genetic algorithm is used to optimize the BP neural network, and the error between the calculated results and the actual results is reduced by 37%, which improves the accuracy of catheter bending recognition. Combining this new method with traditional force sensors not only reduces the error caused by the traditional mechanical transmission, but also can detect the bending direction of the catheter in the blood vessel, which greatly improves the safety of the operation.

show abstract

A Novel Vascular Intervention Surgical Robot Based on Force Feedback and Flexible Clamping

Cited by 28 publications

References 30 publications

Remote vascular interventional surgery robotics: a literature review

Remote vascular interventional surgery robotics: a literature review

Remote Vascular Interventional Surgery Robotics: A Literature Review

An Intravascular Catheter Bending Recognition Method for Interventional Surgical Robots

Contact Info

Product

Resources

About