Safety Operation Consciousness Realization of a MR Fluids-Based Novel Haptic Interface for Teleoperated Catheter Minimally Invasive Neurosurgery

Yin, Xuanchun; Guo, Shuxiang; Xiao, Nan; Tamiya, Takashi; Hirata, Hideyuki; Ishihara, Hidenori

doi:10.1109/tmech.2015.2489219

Cited by 123 publications

(26 citation statements)

References 39 publications

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“…In this paper, catheter interventional surgery is a kind of minimally invasive surgical procedure which demands high accuracy of insertion velocity control and insertion force control. As far as high accuracy is concerned, the robotic system with autonomous control algorithms has been exploited as the main tool to achieve high accuracy and reliability [ 4 , 25 ]. It is not wise, however, to introduce full autonomous robotic control, for safety and surgical acceptance of the surgical community and patients.…”

Section: Methodsmentioning

confidence: 99%

“…Magnetorheological fluids (MR fluids), a kind of smart material, are nonhomogeneous suspension of microsized ferromagnetic particles dispersed in a carrier medium such as silicon oil or water, which undergo a rheological behavior change when an external magnetic field is applied. The mutual interaction among the magnetizable particles form into columns (chains structure) aligned to the direction of the applied external magnetic field [ 4 , 26 ], shown in Figure 2 . In essence, the cause of this phenomenon is the viscosity change.…”

Section: Methodsmentioning

confidence: 99%

“…Successful surgery mainly depends on catheter navigation skills and feedback. The navigation skills include the direction of and the velocity of insertion, retraction, and rotation of the proximal end of the catheters and guidewire [ 3 , 4 ]. Especially at the vessel branches where the tip of the catheter moves from the main branch (the bigger diameter) into the minor branch (the smaller diameter) skill is needed.…”

Section: Introductionmentioning

confidence: 99%

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Magnetorheological Fluids Actuated Haptic-Based Teleoperated Catheter Operating System

2018

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During conventional catheter endovascular procedures, surgeons needs to adjust the catheter intervention moving direction and velocity according to the direct sensation. Moreover, in the conventional method, both the surgeon and the patient are inevitable exposed to a large amount of, and for a long period of time, X-ray radiation during the surgical procedure. The purpose of this paper is to ensure surgical safety and to protect the surgeon from X-ray radiation during the surgical procedure by adopting a novel haptic-based robot-assisted master-slave system mode. In this paper, a kind of magnetorheological fluids (MR fluids)-based haptic interface has been developed to generate a kind of controllable haptic sensation providing to the catheter operator, and the catheter intervention kinematics parameters measured the motion capture part to control the salve robotic catheter operating system following the master side kinematics. The slave catheter operating the mechanical system has also been designed and manufactured to manipulate the clinical catheter by mimicking the surgeon operating the catheter intervention surgical procedure, which has a 2-DOF (advance, retreat, and rotate) catheter motion characteristic; in addition, the interaction force between the catheter and inner wall of vasculature can be measured by its force sensing unit and the feedback to the master system. The catheter intervention synchronous evaluation experiments between the master and slave system are tested. Also, the advantages of integrating the controllable haptic sensation to the master-slave system experimental evaluations have been done in vitro. The experimental results demonstrated that the proposed haptic-based robot-assisted master-slave system mode can reduce the surgical time and protect the surgeon from X-ray radiation.

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Section: Methodsmentioning

confidence: 99%

Section: Methodsmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

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Magnetorheological Fluids Actuated Haptic-Based Teleoperated Catheter Operating System

2018

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“…Most medical and surgical robotic systems include both the master manipulator and the slave manipulator [ 7 ]. The main challenges regarding minimally-invasive surgeries performed with the assistance of medical–surgical catheter robots are measuring the interaction force between the slave manipulator of surgery robotic system and the environment, and the lack of haptic sensation provided to the human operator [ 8 ]. However, to solve the vascular interventional surgery problems mentioned above, the combination of robot technology and vascular interventional technology is very important [ 9 , 10 , 11 ].…”

Section: Introductionmentioning

confidence: 99%

“…Talasaz et al have presented the relevance of force feedback (presented visually as well as directly) during tactile sensing (only presented visually) for tumor localization using an experimental setup close to one that could be applied to real robotics-assisted, minimally-invasive surgeries [ 15 ]. The design concept of a human-operator-centered haptic interface was firstly introduced by Yin et al [ 8 , 16 ]. A new, compact and sterilizable tele-robotic system with three degrees of freedom was proposed, which allowed the interventionalist to use conventional steerable catheters [ 17 ].…”

Section: Introductionmentioning

confidence: 99%

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

2018

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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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Mechanism design and force sensing of a novel cardiovascular interventional surgery robot

Wang

Liu

Shu

et al. 2022

Robotics Computer Surgery

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Background Robotic‐assisted cardiovascular interventional surgery is an effective means to reduce the exposure of X‐ray radiation to surgeons. However, some of the existing design structures cannot meet the surgical requirements for the coordinated delivery of multiple instruments or lack force sensing function. Methods This article proposes a novel cardiovascular interventional surgery robot, which is in line with the operating habits of surgeons. Meanwhile, the force sensing function is integrated under the premise of satisfying the smaller size. Results Experimental results show that the proposed cardiovascular interventional surgery robot can quickly and accurately deliver multiple surgical instruments. Furthermore, it can accurately measure the force and torque experienced by the guidewire during the delivery process, which conforms to the derived dynamic model. Conclusions The results demonstrate the effectiveness of force sensing and indicate the promise of the presented master‐slave robotic system for cardiovascular interventional surgery.

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Safety Operation Consciousness Realization of a MR Fluids-Based Novel Haptic Interface for Teleoperated Catheter Minimally Invasive Neurosurgery

Cited by 123 publications

References 39 publications

Magnetorheological Fluids Actuated Haptic-Based Teleoperated Catheter Operating System

Magnetorheological Fluids Actuated Haptic-Based Teleoperated Catheter Operating System

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

Mechanism design and force sensing of a novel cardiovascular interventional surgery robot

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