Design and Development of Surgeon Augmented Endovascular Robotic System

Sankaran, Naveen; Chembrammel, Pramod; Siddiqui, Adnan H.; Snyder, Kenneth V.; Kesavadas, Thenkurussi

doi:10.1109/tbme.2018.2800639

Cited by 45 publications

(16 citation statements)

References 31 publications

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“…Yang et al captured that proximal force by using a promoting finger on a guidewire‐feeding robot equipped with pressure sensors. In the case of our robot, the driving unit with knurled rollers experiences a similar proximal resistive force. The mechanical load on the actuator is reflected in the current drawn by the actuator to drive the rollers.…”

Section: Methodsmentioning

confidence: 99%

“…These active catheters are 100 times more expensive ($2500) than conventional catheters ($20) . We have developed a novel tele‐operated endovascular robotic system (ERS) that uses conventional catheters and guidewires and also provides proximal force measurement . The total forces experienced by the tool are reflected in the current drawn by the robot actuators.…”

Section: Introductionmentioning

confidence: 99%

“…A, Sensor module and B, robot module proximal force measurement. 17 The total forces experienced by the tool are reflected in the current drawn by the robot actuators. The estimated total force from the current is used to provide haptic feedback, which is transmitted indirectly to surgeons.…”

Section: Introductionmentioning

confidence: 99%

“…1 The design of our ERS is discussed in detail in previous works. 17,18 The current drawn by the first motor is used for the proximal force estimation and has two components: (a) normal operating current and (b) current due to the load on the motor (resistive forces). In order to obtain the current due to resistive force, the normal operating current of the motor is subtracted from the total current measured.…”

Section: Introductionmentioning

confidence: 99%

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Force calibration for an endovascular robotic system with proximal force measurement

Sankaran

Chembrammel

Kesavadas

2020

Robotics Computer Surgery

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Surgeons, while performing manual endovascular procedures with conventional surgical tools (catheters and guidewires), experience forces on the tool outside the patient's body that are proximal to the point of actuation. Currently, most of the robotic systems for endovascular procedures use active catheters to navigate vasculature and to measure the contact forces at the distal end (tool tip). These tools are more expensive than the conventional surgical tools used in endovascular procedures. To avoid dependence on specialized devices like active catheters, we have developed a novel endovascular robotic system (ERS) that uses conventional surgical tools. Our robot can indirectly measure proximal forces and provide haptic feedback to surgeons. This paper discusses the theory, methodology, and calibration of indirect proximal force measurement. This new calibration technique is presented as a nested optimization problem that is solved using bi‐level optimization. The results of experimental validation of the new force calibration methodology are also discussed. The results show that unbiasing of the indirect force measurement by means of force calibration will allow the use of conventional tools in robotic endovascular procedures.

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Section: Methodsmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 2 more Smart Citations

Force calibration for an endovascular robotic system with proximal force measurement

Sankaran

Chembrammel

Kesavadas

2020

Robotics Computer Surgery

Self Cite

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“…Therefore, a growing number of researchers focused on methods of how to generate haptic sensation. Sankaran et al provided the haptic feedback in real-time by motor which drove the catheter translational motions on the surgeon conventional gesture augmented endovascular robotic system [11]. Referred to [12], Payne et al aimed to achieve axial force feedback by over-tube to resist insertion whilst kept the natural ergonomic skills of catheterization.…”

Section: Introductionmentioning

confidence: 99%

A Tactile Sensation Assisted VR Catheterization Training System for Operator’s Cognitive Skills Enhancement

Wang

Yang

et al. 2020

IEEE Access

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In the clinical vascular interventional surgery, experienced surgeons usually rely on visual feedback to reason tool-tissue interaction, because haptic forces are easily contaminated by frictions between the catheter and the introducer sheath, which brings difficulty in collision force perceptions. Thus, cognitive skills are highly demanded for novice surgeons to thoroughly interpret the relative positions between tool and tissue in images and make appropriate decisions about further catheter motions in case of collisions. In this paper, an operator's cognitive skills training system has been introduced, which exploits the tactile sensation to reinforce the visualized spatial positions between catheter tip and vascular wall in the VR simulator. In cooperation with the collision alert module (CAM) in the VR simulator, the newly developed catheter manipulator can provide tactile sensations for novices when catheter tip is threaded beyond safety boundary, so that the VR exhibited tool-tissue interaction can be deliberately intensified. For demonstrating such tactile sensations adequate to strengthen visions, the system model has been established to facilitate the analysis in the perspective of operator's kinesthetic perception. A series of experiments have been conducted at last and the results reveal that the catheter manipulator can not only realize the accurate catheter motions but also provide the enough tactile sensations for novices. Moreover, statistical data prove that subjects under cognitive trainings have developed the ability to interpret the relative spatial positions between catheter tip and vascular wall. Such findings support that the operator's cognitive skills can be enhanced by the tactile reinforcement of VR visualized tool-tissue interaction.

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Mechanism design and force sensing of a novel cardiovascular interventional surgery robot

Wang

Liu

Shu

et al. 2022

Robotics Computer Surgery

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Background Robotic‐assisted cardiovascular interventional surgery is an effective means to reduce the exposure of X‐ray radiation to surgeons. However, some of the existing design structures cannot meet the surgical requirements for the coordinated delivery of multiple instruments or lack force sensing function. Methods This article proposes a novel cardiovascular interventional surgery robot, which is in line with the operating habits of surgeons. Meanwhile, the force sensing function is integrated under the premise of satisfying the smaller size. Results Experimental results show that the proposed cardiovascular interventional surgery robot can quickly and accurately deliver multiple surgical instruments. Furthermore, it can accurately measure the force and torque experienced by the guidewire during the delivery process, which conforms to the derived dynamic model. Conclusions The results demonstrate the effectiveness of force sensing and indicate the promise of the presented master‐slave robotic system for cardiovascular interventional surgery.

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Design and Development of Surgeon Augmented Endovascular Robotic System

Cited by 45 publications

References 31 publications

Force calibration for an endovascular robotic system with proximal force measurement

Force calibration for an endovascular robotic system with proximal force measurement

A Tactile Sensation Assisted VR Catheterization Training System for Operator’s Cognitive Skills Enhancement

Mechanism design and force sensing of a novel cardiovascular interventional surgery robot

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