Operating force information on-line acquisition of a novel slave manipulator for vascular interventional surgery
- 137 Downloads
Vascular interventional surgery has its advantages compared to traditional operation. Master-slave robotic technology can further improve the operation accuracy, efficiency and safety of this complicated and high risk surgery. However, on-line acquisition of operating force information of catheter and guidewire remains to be a significant obstacle on the path to enhancing robotic surgery safety. Thus, a novel slave manipulator is proposed in this paper to realize on-line sensing of guidewire torsional operating torque and axial operation force during robotic assisted operations. A strain sensor is specially designed to detect the small scale torsional operation torque with low rotational frequency. Additionally, the axial operating force is detected via a load cell, which is incorporated into a sliding mechanism to eliminate the influence of friction. For validation, calibration and performance evaluation experiments are conducted. The results indicate that the proposed operation torque and force detection device is effective. Thus, it can provide the foundation for enabling accurate haptic feedback to the surgeon to improve surgical safety.
KeywordsVascular interventional surgery Robot-assisted surgery Slave manipulator Operating force acquisition
This research is partly supported by the National High Tech. Research and Development Program of China (No.2015AA043202), and National Natural Science Foundation of China (61375094, 61503028).
- J. Back, R. Karim, Y. Noh, K. Rhod, K. Althoefer, H. Liu, Tension sensing for a linear actuated catheter robot. Intelligent robotics and applications. ICIRA 2015. Lecture notes in computer science, 9245 (Springer, Cham, 2015), pp. 472–482Google Scholar
- T. Datino, A. Arenal, P.M. Ruiz-Hernández, M. Pelliza, J. Hernández-Hernández, E. González-Torrecilla, F. Atienza, P. Ávila, F. Fernández-Avilés, Arrhythmia ablation using the amigo robotic remote catheter system versus manual ablation: One year follow-up results. Int. J. Cardiol. 202, 877–878 (2015)CrossRefGoogle Scholar
- R.A. Dello, G. Fassini, S. Conti, M. Casella, A.D. Monaco, E. Russo, S. Riva, M. Moltrasio, F. Tundo, G.D. Martino, G. Gallinghouse, L.D. Biase, A. Natale, C. Tondo, Analysis of catheter contact force during atrial fibrillation ablation using the robotic navigation system: Results from a randomized study. J. Interv. Card. Electrophysiol. 46(2), 97–103 (2016)CrossRefGoogle Scholar
- D. Filgueiras-Rama, A. Estrada, J. Shachar, S. Castrejón, D. Doiny, M. Ortega, E. Gang, J.L. Merino, Remote magnetic navigation for accurate, real-time catheter positioning and ablation in cardiac electrophysiology procedures. Journal of Visualized Experiments Jove. 74(74), e3658–e3658 (2013)Google Scholar
- J. Guo, G. Shuxiang, Design and characteristics evaluation of a novel VR-based robot-assisted catheterization training system with force feedback for vascular interventional surgery. Microsyst. Technol. 23, 1–10 (2016)Google Scholar
- J. Guo, S. Guo, L. Shao, P. Wang, Q. Gao, Design and performance evaluation of a novel robotic catheter system for vascular interventional surgery. Microsystem Technology. 22(9), 1–10 (2015)Google Scholar
- F. Kiemeneij, M.S. Patterson, G. Amoroso, G. Laarman, T. Slagboom, Use of the Stereotaxis Niobe® magnetic navigation system for percutaneous coronary intervention: Results from 350 consecutive patients. Journal of Catheterization and Cardiovascular Interventions. 71(4), 510–516 (2008)CrossRefGoogle Scholar
- X. Liu, G. Xu, R. Zhang, Endovascular management for stroke (People’s medical publishing house, Beijing, 2006), pp. 134–136Google Scholar
- Y. Song, S. Guo, X. Yin, L. Zhang, Y. Wang, H. Hirata, H. Ishihara, Design and performance evaluation of a haptic interface based on MR fluids for endovascular tele-surgery. Microsystem Technologies, 1–10 (2017)Google Scholar
- V. Vitiello, K.W. Kwok, G. Yang, Introduction to robot-assisted minimally invasive surgery (MIS). Medical Robotics: Minimally Invasive Surgery 2(1–4), 1–40 (2012)Google Scholar
- L. Zhang, S. Guo, H. Yu, Y. Song, Performance evaluation of a strain-gauge force sensor for a haptic robot-assisted catheter operating system. Microsyst. Technol. 5, 1–10 (2017)Google Scholar