Design and performance evaluation of a novel robotic catheter system for vascular interventional surgery

Guo, Jian; Guo, Shuxiang; Shao, Lin; Wang, Peng; Gao, Qiang

doi:10.1007/s00542-015-2659-4

Cited by 47 publications

(9 citation statements)

References 22 publications

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“…Yang et al designed a guidewire feeding robot with pressure sensors on its fingers to measure the resistive force experienced by the conventional guidewire during driving. Guo et al developed a tele‐operated system that uses a load cell to measure the resistive force on the catheter. The sensors in those cases measure the total force experienced by the tool, which includes contact forces, friction, and other resistance along the vasculature.…”

Section: Related Workmentioning

confidence: 99%

“…Moreover, these tools are relatively large in diameter due to the sensors and, hence, have limited access to smaller vasculatures (such as the blood vessels in the brain). Proximal forces are contact forces indirectly measured using sensors(such as load cell, pressure sensor, and torque sensor) placed outside the body, closer to the region of actuation . The proximal force, also called “total force,” is a combination of many forces, including contact force, frictional force, and viscous drag.…”

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: Related Workmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Force calibration for an endovascular robotic system with proximal force measurement

Sankaran

Chembrammel

Kesavadas

2020

Robotics Computer Surgery

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“…The radial motion-driven unit also uses a stepper motor, with a resolution of 1600 P/R, and the angle of one pulse of the stepper motor is 0.225 degrees. The motor is rotary-driven through the timing belt and pulley to achieve surgical catheter synchronous movement [ 19 ].…”

Section: Robotic System Descriptionmentioning

confidence: 99%

Study of the Operational Safety of a Vascular Interventional Surgical Robotic System

2018

Self Cite

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This paper proposes an operation safety early warning system based on LabView (2014, National Instruments Corporation, Austin, TX, USA) for vascular interventional surgery (VIS) robotic system. The system not only provides intuitive visual feedback information for the surgeon, but also has a safety early warning function. It is well known that blood vessels differ in their ability to withstand stress in different age groups, therefore, the operation safety early warning system based on LabView has a vascular safety threshold function that changes in real-time, which can be oriented to different age groups of patients and a broader applicable scope. In addition, the tracing performance of the slave manipulator to the master manipulator is also an important index for operation safety. Therefore, we also transformed the slave manipulator and integrated the displacement error compensation algorithm in order to improve the tracking ability of the slave manipulator to the master manipulator and reduce master–slave tracking errors. We performed experiments “in vitro” to validate the proposed system. According to previous studies, 0.12 N is the maximum force when the blood vessel wall has been penetrated. Experimental results showed that the proposed operation safety early warning system based on LabView combined with operating force feedback can effectively avoid excessive collisions between the surgical catheter and vessel wall to avoid vascular puncture. The force feedback error of the proposed system is maintained between ±20 mN, which is within the allowable safety range and meets our design requirements. Therefore, the proposed system can ensure the safety of surgery.

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“…Huang Wentai 12 designed one set of master-slave control catheter system which includes a 3-degree of freedom (DOF) main robot Falcon to control the pushing, rotation, and bending of the catheter. Liu Da and other scholars [13][14][15][16][17][18] designed one remotely controlled master-slave catheter system which establishes a network data transmission layer linking the master and the salve and acquires the positioning error of the pushing mechanism at different pushing speeds.…”

Section: Introductionmentioning

confidence: 99%

Research on kinematics and attitude control model of a surgical interventional catheter

2019

International Journal of Advanced Robotic Systems

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To solve the problems of poor versatility and inactivity of the traditional interventional catheters, a forward kinematic model of multi-segment catheters in series is established by using D-H parameter method, which is based on the geometrical structure of the designed catheters. In order to ensure the decoupling control of the driver’s length, we look into the relationship between the driver’s length and the posture of the catheter unit. The control model of the catheter’s posture is further presented, in which the characteristics of driver is equivalent to the arc shape. Finally, the fuzzy Proportional-Integral-Differential Control (PID) control is designed to control the catheter unit which greatly improves the precision of the control model. The results show that the relationship between the predicted driver length and the catheter attitude angle is basically consistent with the experimental results, which verifies the effectiveness of the variable universe fuzzy PID control.

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Design and performance evaluation of a novel robotic catheter system for vascular interventional surgery

Cited by 47 publications

References 22 publications

Force calibration for an endovascular robotic system with proximal force measurement

Force calibration for an endovascular robotic system with proximal force measurement

Study of the Operational Safety of a Vascular Interventional Surgical Robotic System

Research on kinematics and attitude control model of a surgical interventional catheter

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