Evaluation of a Clamping Mechanism for Vascular Interventional Surgery Robotic System

Shi, Chaochao; Guo, Shuxiang

doi:10.1109/icma52036.2021.9512694

Cited by 6 publications

(1 citation statement)

References 36 publications

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“…Jin et al [39,40] proposed a system that has the collision force detection function of a catheter's tip and an active enhancing safety method to avoid the dangers caused by the surgeon's misoperation and sudden accidents. Shi et al [41] proposed a novel follower manipulator with a coordinate system that can quickly exchange the guidewire/catheter. Through the simulation experiment, they verified that the flexible material can protect the catheter's surface from damage.…”

Section: Laboratory Robotsmentioning

confidence: 99%

Performance Evaluation of a Vascular Interventional Surgery Robotic System with Visual-Based Force Feedback

Shi

Ishihara

2023

Machines

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Robot-assisted systems for vascular interventional surgery (VIS) have the advantages of high precision and an improved operating environment for the surgeon. However, the current robot-assisted systems cannot completely replace human beings in controlling interventional devices—for example, rapid guidewire/catheter replacement and force feedback. In the face of these challenges, the robot-assisted system presented in this article can better solve the above problems. The experiments for the guidewire and catheter were designed and performed separately based on the developed robot-assisted system. The experimental results show that the participants can use the system to manipulate the guidewire and catheter to reach the designated blood vessel position. Based on the experiments for the catheter, for the first time, the reciprocating manipulation method with visual-based force feedback (VFF) was used for experimental evaluation. The experimental results show that this method can effectively avoid the buckling phenomenon of the catheter; the VFF plays a vital role in improving the safety of the operation and provides an operational assessment of VIS safety. In addition, this article puts forward the evaluation index for maximum pull force (MPLF) and force fluctuation, which provides an essential reference for enriching the evaluation of VIS technical skills.

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Section: Laboratory Robotsmentioning

confidence: 99%

Performance Evaluation of a Vascular Interventional Surgery Robotic System with Visual-Based Force Feedback

Shi

Ishihara

2023

Machines

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The Design of Endovascular Robots for Cardiac Interventions: A Survey

Alekseeva,

Viller,

Romanov

2024

Journal of Field Robotics

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The paper presents a survey of modern robots for percutaneous coronary interventions. It covers papers published before October 2024. The robotic systems introduced in these papers are compared by their design, tool manipulation principles, surgical tools compatibility, and human–machine interfaces, including types of feedback. The paper provides an overview of all main design approaches ever implemented in percutaneous coronary intervention robotics and critically analyzes their pros and cons. The survey covers 62 endovascular robotic systems (11 commercial and 51 academic) and 23 endovascular robotic tools, making it the most representative to date to the best of our knowledge. All of these solutions have been implemented at least as prototypes, while some of them have been tested in vivo and even reached clinical practice. In the discussion section, we critically analyze the known field experience with the use of the CorPath GRX (one of the most popular commercial systems currently used in several hospitals around the world), discuss the reasons for the insufficient spread of robotic endovascular surgery and propose a vision for changing this trend. This survey is intended primarily for engineers designing new medical robotic systems. However, it will also be of interest to endovascular surgeons to help them better understand the trade‐offs of both the products already in the market and the promising solutions that will be available in the future.

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