Intuitive Control Strategies for Teleoperation of Active Catheters in Endovascular Surgery

Abstract

Cardiovascular surgeons increasingly resort to catheter-based diagnostic and therapeutic interventions because of their limited invasiveness. Although, these approaches allow treatment of patients considered unfit for conventional open surgery, exposure to radiation and high procedural complexity could lead to complications. These factors motivated the introduction of robotic technology offering more dexterous catheters, enhanced visualization and opening new possibilities in terms of guidance and coordinated control. In addition to improvements of patient outcome, through teleoperated catheter control radiation exposure of surgeons can be reduced. In order to limit surgical workload, intuitive mappings between joystick input and resulting catheter motion are essential. This paper presents and compares two proposed mappings and investigates the benefits of additional visual guidance. The comparison is based on data gathered during an experimental campaign involving 14 novices and three surgeons. The participants were asked to perform an endovascular task in a virtual reality simulator presented in the first part of this paper. Statistical results show significant superiority of one mapping with respect to the other and a significant improvement of performance thanks to additional visual guidance. Future work will focus on translating the results to a physical setup for surgical validation, also the learning effect will be analyzed more in-depth.

Cognitive AutonomouS CAtheters Operating in Dynamic Environments

“…These experiments were next repeated with a larger population including novices and expert surgeons. 91 This time the in SubSec. 3.2 described VR environment was used.…”

Automatic intraluminal scanning with a steerable endoscopic optical coherence tomography catheter for gastroenterology applications

“…ω c corresponds to the frequency band occupied by the movement, VðωÞ is the Fourier magnitude spectrum of the speed profile, and VðωÞ is the amplitude normalized magnitude spectrum. This metric has been used to measure motor recovery in patients affected by neurological diseases, and also for quantifying robotic catheter performance 50,51 E Q -T A R G E T ; t e m p : i n t r a l i n k -; e 0 1 2 ; 1 1 6 ; 6 3 8…”

“…Spectral arc length quantifies smoothness of motion and it is independent of the amplitude, duration, and trajectory. It has been previously demonstrated to be robust and consistent for analysis of smoothness of motions in sport science, psychology, and neuro-rehabilitation, 48 as well as for skills analysis in surgery 49 and assessment of performance in robotic systems 50 , 51 . The smoothness of motion is an indicator of the distribution uniformity of data acquisition.…”

“…It has been previously demonstrated to be robust and consistent for analysis of smoothness of motions in sport science, psychology, and neurorehabilitation, 48 as well as for skills analysis in surgery 49 and assessment of performance in robotic systems. 50,51 The smoothness of motion is an indicator of the distribution uniformity of data acquisition. Scan area, spacing, number of sweep trajectories achieved, translation, and time to finish are also considered in this work to measure scanning performance.…”

Combining Differential Kinematics and Optical Flow for Automatic Labeling of Continuum Robots in Minimally Invasive Surgery

“…Most of them are tubular in shape, which presents significant advantages for minimally invasive surgery (Burgner-Kahrs et al, 2015 ). Examples of applications include surgical specialties as wide as endovascular and cardiac surgery (Vasilyev et al, 2015 ; Devreker et al, 2016 ), gastroenterology (Berthet-Rayne et al, 2018 ; Garbin et al, 2018 ; Zorn et al, 2018 ), neurosurgery (Swaney et al, 2015 ), or fetal surgery (Dwyer et al, 2017 ).…”