Advantage of Steerable Catheter and Haptic Feedback for a 5-DOF Vascular Intervention Robot System

Woo, Jaehong; Song, Hwa-Seob; Cha, Hyo-Jeong

doi:10.3390/app9204305

Cited by 39 publications

(15 citation statements)

References 25 publications

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“…For instance, most of the conventional ablation catheters provide 3‐degrees of freedom (DOFs), including translational, twist, and bending motion. Also, among the two available designs for catheters’ knobs (ie, prismatic and rotational knobs), ablation catheters mostly possess rotational knobs 20,21 . Althea II is designed to enable the required actuations for such conventional movements (two rotational and one translational motion).…”

Section: Methodsmentioning

confidence: 99%

“…Also, among the two available designs for catheters' knobs (ie, prismatic and rotational knobs), ablation catheters mostly possess rotational knobs. 20,21 Althea II is designed to enable the required actuations for such conventional movements (two rotational and one translational motion). The three main modules providing these actuations are depicted in Figure 2A.…”

Section: Conceptual Designmentioning

confidence: 99%

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Design and experimental evaluation of an automated catheter operating system

et al. 2021

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Manual catheter‐based interventions (CBIs) suffer from exposure of the interventionalists to X‐ray, and dependence of their performance on the expertise and fatigue level of the interventionalists. Robot‐assisted catheterization systems (RACS) have been introduced in recent years to improve the efficiency of CBIs; however, using them is still associated with some difficulties such as set‐up dependency to a specific type of intervention instrument, not being portable, and offering limited options of operation modes. The objective of this research is to develop a new RACS to address these shortcomings. We propose Althea II as an improvement for our previously introduced RACS, Althea I. Althea II is designed for both research purposes and clinical applications including catheter‐based cardiovascular interventions. Althea II benefits from a novel structural design leading to a significantly reduced weight and making the device inclusive for a broader range of intervention instruments. Also, a tip detection algorithm is developed and integrated into the graphical user interface (GUI) to enable image‐based navigation, and accordingly, fully automatic navigation. Althea II has improved the outcome of catheter‐based interventions by increased accuracy and precision of the intervention. The system can navigate the catheter tip to a designated target with an accuracy higher than 90% in both velocity and positioning mode. The device is associated with an upgraded GUI equipped with a strong tip detection algorithm with an accuracy of 0.05 mm. Moreover, Althea II gains from a quicker assembly time (20 minutes, which equals five times faster). The independency from specific catheters, several modes of function, an imaged‐based feedback control, portability, and a remote function should allow operation even from beginners and reduce X‐ray exposure. The preliminary research studies verified the accuracy and repeatability of Althea II, demonstrated the feasibility and applicability of using the set‐up in multiple applications, and highlighted the improved set‐up capabilities over the currently available RACS.

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Section: Methodsmentioning

confidence: 99%

Section: Conceptual Designmentioning

confidence: 99%

Design and experimental evaluation of an automated catheter operating system

et al. 2021

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“…Yang proposed a twirling finger structure to imitate the surgeons twirling motion of the guide wire and they used a lever structure to measure the resistance of delivery motion of the guide wire [ 14 ]. Cha designed an ingenious assembly-type robot which combined a friction wheel and a telescopic rod structure while the change of the motor current was used to assess the resistance force during the delivery movement of the guide wire [ 15 , 16 ]. Shen developed a robot system based on electric slider and gear mechanism module for cerebrovascular surgery and an eccentricity spring control model was proposed to reduce the hand jitter captured by the joystick [ 17 ].…”

Section: Introductionmentioning

confidence: 99%

A Remote-Controlled Robotic System with Safety Protection Strategy Based on Force-Sensing and Bending Feedback for Transcatheter Arterial Chemoembolization

et al. 2020

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Transcatheter arterial chemoembolization (TACE) is the common choice of non-open surgery for hepatocellular carcinoma (HCC) now. In this study, a simple TACE robotic system of 4-degree-of-freedom is proposed to get higher accuracy and stability of the surgery operation and reduce X-ray exposure time of the surgeons. The master–slave control strategy is adopted in the robotic system and a customized sigmoid function is designed to optimize the joystick control of the master–slave robotic control system. A force-sensing module is developed to sense the resistance of the guide wire in linear delivery motion and an auxiliary bending feedback method based on constraint pipe with a film sensor is proposed. With two force-sensing methods, the safety strategy of robotic motion with 9 different motion constraint coefficients is given and a human–computer interface is developed. The TACE robot would monitor the value of the force sensor and the analog voltage of the film sensor to adopt the corresponding motion constraint coefficient in every 10 ms. Vascular model experiments were performed to validate the robotic system, and the results showed that the safety strategy could improve the reliability of the operation with immediate speed constraint and avoid potential aggressive delivery.

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“…6,16,20 Over the past few years, different types of steerable cardiac catheters have been presented in literature. 1,8,17,21 Similarly, a number of different steerable catheter systems have become available commercially in recent years. Besides the regular push/pull and torque movements, steerable catheters may have additional Degrees of Freedom (DOF) and one or more deflectable segments in the tip that allow the interventionist to navigate through the cardiac environment and precisely position the tip.…”

Section: Introductionmentioning

confidence: 99%

First Expert Evaluation of a New Steerable Catheter in an Isolated Beating Heart

Ali

Szili-Török

Stijnen

et al. 2020

Cardiovasc Eng Tech

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Purpose In previous studies we developed two mechanical prototypes of steerable catheters: the Sigma, which uses joysticks to actuate two steerable tip segments, and the Epsilon, which has a handle that is an enlarged version of the tip. In this study, we present a first performance evaluation of the prototypes in the cardiac environment. The evaluation was carried out by an expert user, an electrophysiologist with over 20 years of experience, to obtain insight in clinically relevant factors. Methods Two experiments were conducted. In the first experiment, the Sigma was used in a passive beating heart setup connected to pumps with a saline solution and camera visualization, and compared with the expert’s past experience with conventional steerable catheters. In the second experiment, the Sigma was used in an active beating heart setup with blood perfusion through the coronary arteries and echo visualization, and compared with the Epsilon prototype. The prototype was evaluated through questionnaires on task performance, catheter usability, and workload. After each of the experiments, the catheter characteristics were evaluated via a survey and followed by an in-depth interview. Results & Conclusions The expert user found the passive beating heart setup to more successful than the active beating heart setup for the purpose of this experiment, with insightful visualization while the heart was in beating condition. The steerability of the prototypes was experienced as useful and clinically relevant. Based on the questionnaires and interview we were able to identify future design improvements and developments for the steerable catheter prototypes.

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Advantage of Steerable Catheter and Haptic Feedback for a 5-DOF Vascular Intervention Robot System

Cited by 39 publications

References 25 publications

Design and experimental evaluation of an automated catheter operating system

Design and experimental evaluation of an automated catheter operating system

A Remote-Controlled Robotic System with Safety Protection Strategy Based on Force-Sensing and Bending Feedback for Transcatheter Arterial Chemoembolization

First Expert Evaluation of a New Steerable Catheter in an Isolated Beating Heart

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