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Compensatory force measurement and multimodal force feedback for remote-controlled vascular interventional robot

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Abstract

Minimally invasive vascular interventional surgery is widely used and remote-controlled vascular interventional surgery robots (RVIRs) are being developed to reduce the occupational risk of the intervening physician in minimally invasive vascular interventional surgeries. Skilled surgeon performs surgeries mainly depending on the detection of collisions. Inaccurate force feedback will be difficult for surgeons to perform surgeries or even results in medical accidents. In addition, the surgeon cannot quickly and easily distinguish whether the proximal force exceeds the safety threshold of blood vessels or not, and thus it results in damage to the blood vessels. In this paper, we present a novel method comprising compensatory force measurement and multimodal force feedback (MFF). Calibration experiments and performance evaluation experiments were carried out. Experimental results demonstrated that the proposed method can measure the proximal force of catheter/guidewire accurately and assist surgeons to distinguish the change of proximal force more easily. This novel method is suitable for use in actual surgical operations.

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Acknowledgements

This research is supported by National High-tech Research and Development Program (863 Program) of China (2015AA043202), and National Key Research and Development Program of China (2017YFB1304401).

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Authors and Affiliations

  1. Key Laboratory of Convergence Medical Engineering System and Healthcare Technology, Ministry of Industry and Information Technology, Beijing Institute of Technology, Beijing, 100081, China

    Xianqiang Bao, Shuxiang Guo, Nan Xiao & Liwei Shi

  2. Intelligent Mechanical Systems Engineering Department, Kagawa University, Takamatsu, 761-0396, Japan

    Shuxiang Guo

  3. Department of Interventional Neuroradiology, Beijing Engineering Technology Research Center for Interventional Neuroradiology, and Beijing Neurosurgical Institute, Beijing Tiantan Hospital, Capital Medical University, Beijing, 10050, China

    Youxiang Li

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  1. Xianqiang Bao
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  2. Shuxiang Guo
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Correspondence to Shuxiang Guo, Nan Xiao or Liwei Shi.

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Bao, X., Guo, S., Xiao, N. et al. Compensatory force measurement and multimodal force feedback for remote-controlled vascular interventional robot. Biomed Microdevices 20, 74 (2018). https://doi.org/10.1007/s10544-018-0318-0

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