A Magnetorheological Fluids-Based Robot-Assisted Catheter/Guidewire Surgery System for Endovascular Catheterization
A teleoperated robotic catheter operating system is a solution to avoid occupational hazards caused by repeated exposure radiation of the surgeon to X-ray during the endovascular procedures. However, inadequate force feedback and collision detection while teleoperating surgical tools elevate the ris...
| Main Authors: | , , , |
|---|---|
| Format: | Article |
| Language: | English |
| Published: |
MDPI AG
2021-05-01
|
| Series: | Micromachines |
| Subjects: | |
| Online Access: | https://www.mdpi.com/2072-666X/12/6/640 |
| _version_ | 1797531990816194560 |
|---|---|
| author | Linshuai Zhang Shuoxin Gu Shuxiang Guo Takashi Tamiya |
| author_facet | Linshuai Zhang Shuoxin Gu Shuxiang Guo Takashi Tamiya |
| author_sort | Linshuai Zhang |
| collection | DOAJ |
| description | A teleoperated robotic catheter operating system is a solution to avoid occupational hazards caused by repeated exposure radiation of the surgeon to X-ray during the endovascular procedures. However, inadequate force feedback and collision detection while teleoperating surgical tools elevate the risk of endovascular procedures. Moreover, surgeons cannot control the force of the catheter/guidewire within a proper range, and thus the risk of blood vessel damage will increase. In this paper, a magnetorheological fluid (MR)-based robot-assisted catheter/guidewire surgery system has been developed, which uses the surgeon’s natural manipulation skills acquired through experience and uses haptic cues to generate collision detection to ensure surgical safety. We present tests for the performance evaluation regarding the teleoperation, the force measurement, and the collision detection with haptic cues. Results show that the system can track the desired position of the surgical tool and detect the relevant force event at the catheter. In addition, this method can more readily enable surgeons to distinguish whether the proximal force exceeds or meets the safety threshold of blood vessels. |
| first_indexed | 2024-03-10T10:52:40Z |
| format | Article |
| id | doaj.art-71f98654490e47ce965c093338da49ee |
| institution | Directory Open Access Journal |
| issn | 2072-666X |
| language | English |
| last_indexed | 2024-03-10T10:52:40Z |
| publishDate | 2021-05-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Micromachines |
| spelling | doaj.art-71f98654490e47ce965c093338da49ee2023-11-21T22:08:06ZengMDPI AGMicromachines2072-666X2021-05-0112664010.3390/mi12060640A Magnetorheological Fluids-Based Robot-Assisted Catheter/Guidewire Surgery System for Endovascular CatheterizationLinshuai Zhang0Shuoxin Gu1Shuxiang Guo2Takashi Tamiya3School of Control Engineering, Chengdu University of Information Technology, Chengdu 610225, ChinaSchool of Control Engineering, Chengdu University of Information Technology, Chengdu 610225, ChinaFaculty of Engineering and Design, Kagawa University, Takamatsu 761-0396, JapanDepartment of Neurological Surgery, Faculty of Medicine, Kagawa University, Takamatsu 761-0396, JapanA teleoperated robotic catheter operating system is a solution to avoid occupational hazards caused by repeated exposure radiation of the surgeon to X-ray during the endovascular procedures. However, inadequate force feedback and collision detection while teleoperating surgical tools elevate the risk of endovascular procedures. Moreover, surgeons cannot control the force of the catheter/guidewire within a proper range, and thus the risk of blood vessel damage will increase. In this paper, a magnetorheological fluid (MR)-based robot-assisted catheter/guidewire surgery system has been developed, which uses the surgeon’s natural manipulation skills acquired through experience and uses haptic cues to generate collision detection to ensure surgical safety. We present tests for the performance evaluation regarding the teleoperation, the force measurement, and the collision detection with haptic cues. Results show that the system can track the desired position of the surgical tool and detect the relevant force event at the catheter. In addition, this method can more readily enable surgeons to distinguish whether the proximal force exceeds or meets the safety threshold of blood vessels.https://www.mdpi.com/2072-666X/12/6/640robot-assisted catheter operating systemmagnetorheological fluidsendovascular catheterizationcollision detectionvascular interventional surgery |
| spellingShingle | Linshuai Zhang Shuoxin Gu Shuxiang Guo Takashi Tamiya A Magnetorheological Fluids-Based Robot-Assisted Catheter/Guidewire Surgery System for Endovascular Catheterization Micromachines robot-assisted catheter operating system magnetorheological fluids endovascular catheterization collision detection vascular interventional surgery |
| title | A Magnetorheological Fluids-Based Robot-Assisted Catheter/Guidewire Surgery System for Endovascular Catheterization |
| title_full | A Magnetorheological Fluids-Based Robot-Assisted Catheter/Guidewire Surgery System for Endovascular Catheterization |
| title_fullStr | A Magnetorheological Fluids-Based Robot-Assisted Catheter/Guidewire Surgery System for Endovascular Catheterization |
| title_full_unstemmed | A Magnetorheological Fluids-Based Robot-Assisted Catheter/Guidewire Surgery System for Endovascular Catheterization |
| title_short | A Magnetorheological Fluids-Based Robot-Assisted Catheter/Guidewire Surgery System for Endovascular Catheterization |
| title_sort | magnetorheological fluids based robot assisted catheter guidewire surgery system for endovascular catheterization |
| topic | robot-assisted catheter operating system magnetorheological fluids endovascular catheterization collision detection vascular interventional surgery |
| url | https://www.mdpi.com/2072-666X/12/6/640 |
| work_keys_str_mv | AT linshuaizhang amagnetorheologicalfluidsbasedrobotassistedcatheterguidewiresurgerysystemforendovascularcatheterization AT shuoxingu amagnetorheologicalfluidsbasedrobotassistedcatheterguidewiresurgerysystemforendovascularcatheterization AT shuxiangguo amagnetorheologicalfluidsbasedrobotassistedcatheterguidewiresurgerysystemforendovascularcatheterization AT takashitamiya amagnetorheologicalfluidsbasedrobotassistedcatheterguidewiresurgerysystemforendovascularcatheterization AT linshuaizhang magnetorheologicalfluidsbasedrobotassistedcatheterguidewiresurgerysystemforendovascularcatheterization AT shuoxingu magnetorheologicalfluidsbasedrobotassistedcatheterguidewiresurgerysystemforendovascularcatheterization AT shuxiangguo magnetorheologicalfluidsbasedrobotassistedcatheterguidewiresurgerysystemforendovascularcatheterization AT takashitamiya magnetorheologicalfluidsbasedrobotassistedcatheterguidewiresurgerysystemforendovascularcatheterization |