Design and performance evaluation of collision protection-based safety operation for a haptic robot-assisted catheter operating system

Abstract

The robot-assisted catheter system can increase operating distance thus preventing the exposure radiation of the surgeon to X-ray for endovascular catheterization. However, few designs have considered the collision protection between the catheter tip and the vessel wall. This paper presents a novel catheter operating system based on tissue protection to prevent vessel puncture caused by collision. The integrated haptic interface not only allows the operator to feel the real force feedback, but also combines with the newly proposed collision protection mechanism (CPM) to mitigate the collision trauma. The CPM can release the catheter quickly when the measured force exceeds a certain threshold, so as to avoid the vessel puncture. A significant advantage is that the proposed mechanism can adjust the protection threshold in real time by the current according to the actual characteristics of the blood vessel. To verify the effectiveness of the tissue protection by the system, the evaluation experiments in vitro were carried out. The results show that the further collision damage can be effectively prevented by the CPM, which implies the realization of relative safe catheterization. This research provides some insights into the functional improvements of safe and reliable robot-assisted catheter systems.

Design of a New Catheter Operating System for the Surgical Robot

“…In this paper, a new catheter operating system of the surgical robot is proposed, and a new mechanical structure of force feedback is designed to measure the near-end force during the operation. Surgeons can also sense the force feedback of the system to avoid misoperation [ 17 ]. Secondly, the BP neural network PID controller is designed to improve the motion accuracy of the axial displacement in the process of teleoperation.…”

A Novel Universal Endovascular Robot for Peripheral Arterial Stent–Assisted Angioplasty: Initial Experimental Results

“…In addition, the novel robotic system accomplished multiple collaborative manipulations with 12 DOF, the manual operation could be stimulated with 4 robotic manipulators (each manipulator has 3 DOFinsertion/withdrawal, rotation, and clamping/releasing-which can achieve more complex operations compared to designed robotic systems with less DOF. 9 Improvement has also been made to the structural design of the robot, the parts can be disassembled and reinstalled in the digital substraction angiography (DSA) operation room when needed, which solves the room occupancy issue and makes the application more flexible. Compared to frictional wheels adopted by Sensei System and the alikes, 5 the application of V-shaped clampers ( Figure 6) has higher protection level to endovascular devices.…”

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

“…To enhance the operator's cognitive skills, a tactile sensation assisted VR training system has been developed. Compared with previous investigations, a number of studies have been published on the safety issues of catheter operation [13], [16], [17] but most available literature including our previous work [25] adopts passive solutions to prevent collisions or remit collision trauma to the tissue. Researchers would prefer to concentrate on the haptic guidance methods to improve the novice surgeons' catheter technical skills.…”

“…Apart from that, they paid more attention to promoting surgeon's safety operation consciousness by means of haptic sensation, since excessive force exerted on vasculature was possible to result in complications like inflammation, thrombosis, perforation and haemorrhage [15]. Following up their recent studies, Zhang et al integrated such MR-fluid haptic interface into the master side of catheter robotic system to protect blood vessels [16]. Guo et al proposed to employ MR-fluids based haptic interface to discriminate the ''pseudo-collision'' and ''real collision'' between catheter tip and vascular wall, which could help interventionalists gain an optimal operation strategy in catheterization [17].…”