Design and experimental evaluation of a teleoperated haptic robot–assisted catheter operating system

Abstract

Minimally invasive surgery and therapy is popularly used both for diagnosis and for surgery. Teleoperation, a promising surgery, is used to protect the surgeon from X-ray radiation as well as to address the problem of lacking experienced surgeons in remote rural areas. However, surgery success ratio should be considered because the surgeon was separated from the patient remotely. A most effective addressing method to improve success ratio is design of a haptic interface as a master console, which can provide the ''immersive'' operation to the surgeon. In this study, a haptic catheter operation system for teleoperation through exploiting magnetorheological fluids is proposed to solve the safety problem. The haptic sensation is provided by varying the viscosity of the magnetorheological fluids by adjusting the magnetic field, which is dependent on the force measured in the slave manipulator. Therefore, three parts of the haptic interface were designed and fabricated: magnetic field, magnetorheological fluids container and haptic performance calibration mechanism. Some preliminary experiments have been done to verify the effectiveness of this kind of haptic interface. Experimental results illustrated that the designed haptic catheter operation system can be used for teleoperation and for training the surgeon for the non-experience.

Characteristic Evaluation of a Shrouded Propeller Mechanism for a Magnetic Actuated Microrobot

“…The working space of measured magnetic flux density is very close to our simulated results. The magnetic flux density, along the X-axis of the working space, is symmetric about the center [37] and the magnetic field decreased from the center to the outer edge. …”

Robotic remote control based on human motion via virtual collaboration system: A survey

“…7(c), one haptic interaction scheme using a string-based interface called the Space Interface Device for Artificial Reality (SPIDAR) applies multiple strings for force feedback (Sato, 2002). In addition, Yin et al (2016) designed a method to transmit the force feedback, which is received by the robot from a remote place to the operator by using magnetorheological (MR) fluids to convert the viscosity of the fluid into an electric signal.…”

Modelling and analysis of the damping force for the master manipulator of the robotic catheter system

“…So an easy controllable actuator with quick response is necessary when the user completes the operation. TRMIS is a kind of revolutionary surgical technique that consists of five subsystems: master manipulator, slave manipulator, local control systems in master site and slave site, and information exchange channel [4]- [6]. There is a lot of research in this field abroad, Sensei Hansen pharmaceutical company developed a robot system, which is the first to use in vascular interventional surgery robot system.…”