Skip to main content
SpringerLink
Log in

Design and evaluation of sensorized robot for minimally vascular interventional surgery

  • Technical Paper
  • Published:
Microsystem Technologies Aims and scope Submit manuscript

Abstract

Remote-controlled vascular interventional robots (RVIRs) are being developed to reduce the occupational risk of the intervening physician, such as radiation, chronic neck and back pain, and increase the accuracy and stability of surgery operation. The collision between the catheter/guidewire tip and blood vessels during the surgery practice is important for minimally invasive surgery because the success of the surgery mainly depends on the detection of collisions. In this study, we propose a novel sensing principle and fabricate a sensorized RVIR. The proposed sensorized RVIR can accurately detect force and reconstruct force feedback. The performance of the proposed sensorized RVIR is evaluated through experiments. The experiment results show that it can accurately measure static force and time-varying force. Subtle force changes caused by changes of movement direction in surgeries can also be detected. In addition, the proposed sensorized RVIR has higher operation efficiency than our previous prototype.

This is a preview of subscription content, log in via an institution to check access.

Access this article

Log in via an institution

Price excludes VAT (USA)
Tax calculation will be finalised during checkout.

Instant access to the full article PDF.

Institutional subscriptions

Fig. 1
Fig. 2
Fig. 3
Fig. 4
Fig. 5
Fig. 6
Fig. 7
Fig. 8
Fig. 9
Fig. 10
Fig. 11

Similar content being viewed by others

References

  • Arai F, Fujimura R, Fukuda T, Negoro M (2002) New catheter driving method using linear stepping mechanism for intravascular neurosurgery. In: IEEE international conference on robotics and automation pp 2944–2949

  • Bao X, Guo S, Xiao N, Wang Y, Qin M, Zhao Y, Xu C, Pen W (2016) Design and evaluation of a novel guidewire navigation robot. In: IEEE international conference on mechatronics and automation pp 431–436

  • Bao X, Guo S, Xiao N, Zhao Y, Zhang C, Yang C, Shen R (2017) Toward cooperation of catheter and guidewire for remote-controlled vascular interventional robot. In: IEEE international conference on mechatronics and automation pp 422–426

  • Bao X, Guo S, Xiao N, Li Y, Yang C, Jiang Y (2018a) A cooperation of catheters and guidewires-based novel remote-controlled vascular interventional robot. Biomed Microdevices. https://doi.org/10.1007/s10544-018-0261-0

    Google Scholar 

  • Bao X, Guo S, Xiao N, Li Y, Yang C, Shen R, Cui J, Jiang Y, Liu X, Liu K (2018b) Operation evaluation in-human of a novel remote-controlled vascular interventional robot. Biomed Microdevices. https://doi.org/10.1007/s10544-018-0277-5

    Google Scholar 

  • Beyar R, Gruberg L, Deleanu D, Roguin A, Almagor Y, Cohen S, Kumar G, Wenderow T (2006) Remote-control percutaneous coronary interventions: concept, validation, and first-in-humans pilot clinical trial. J Am Coll Cardiol 47(2):296–300

    Article  Google Scholar 

  • Cercenelli L, Marcelli E, Plicchi G (2007) Initial experience with a telerobotic system to remotely navigate and automatically reposition standard steerable EP catheters. ASAIO J 53(5):523–529

    Article  Google Scholar 

  • Faddis M, Blume W, Finney J, Hall A, Rauch J, Sell J, Bae K, Talcott M, Lindsay B (2002) Novel, magnetically guided catheter for endocardial mapping and radiofrequency catheter ablation. Circulation 106(23):2980–2985

    Article  Google Scholar 

  • Feng Z, Bian G, Xie X, Hou Z, Hao J (2015) Design and evaluation of a bio-inspired robotic hand for percutaneous coronary intervention. In: IEEE international conference on robotics and automation pp 5338–5343

  • Fu Y, Liu H, Wang S, Deng W, Li X, Liang Z (2009) Skeleton-based active catheter navigation. Int J Med Robot Comput Assist Surg 5(2):125–135

    Article  Google Scholar 

  • Guo S, Fukuda T, Kosuge K, Arai F, Oguro K, Negoro M (1995) Micro catheter system with active guide wire. In: IEEE international conference on robotics and automation pp 79–84

  • Guo S, Yamaji H, Kita Y, Izuishi K, Tamiya T (2008) A novel active catheter system for ileus treatment. In: IEEE international conference on automation and logistics pp 67–72

  • Guo J, Guo S, Yu Y (2016) Design and characteristics evaluation of a novel teleoperated robotic catheterization system with force feedback for vascular interventional surgery. Biomed Microdevice 18(5):76–92

    Article  Google Scholar 

  • Guo S, Wang Y, Xiao N, Li Y, Jiang Y (2018) Study on real-time force feedback for a master–slave interventional surgical robotic system. Biomed Microdevices. https://doi.org/10.1007/s10544-018-0278-4

    Google Scholar 

  • Jayender J, Azizian M, Patel R (2008) Autonomous image-guided robot-assisted active catheter insertion. IEEE Trans Robot 24(4):858–871

    Article  Google Scholar 

  • Jones L (2000) Kinesthetic sensing. In: Cutkosky M, Howe R, Salisbury K, Srinivasan M (eds) Human and machine haptics. MIT Press, Cambridge

    Google Scholar 

  • Kesner SB, Howe RD (2011) Force control of flexible catheter robots for beating heart surgery. In: IEEE international conference on robotics and automation pp 1589–1594

  • Khan E, Frumkin W, Ng G, Neelagaru S, Abi-Samra F, Lee J, Giudici M, Gohn D, Winkle R, Sussman J, Knight B, Berman A, Calkins H (2013) First experience with a novel robotic remote catheter system: Amigo™ mapping trial. J Interv Card Electrophysiol 37(2):121–129

    Article  Google Scholar 

  • Klein L, Miller D, Balter S, Laskey W, Haines D, Norbash A, Mauro M, Goldstein J (2009) Occupational health hazards in the interventional laboratory: time for a safer environment. Catheter Cardiovasc Interv 73(3):432–438

    Article  Google Scholar 

  • Marcelli E, Cercenelli L, Plicchi G (2008) A novel telerobotic system to remotely navigate standard electrophysiology catheters. Comput Cardiol 35:137–140

    Google Scholar 

  • Meng C, Zhang J, Liu D, Liu B, Zhou F (2013) A remote-controlled vascular interventional robot: system structure and image guidance. Int J Med Robot Comput Assist Surg 9(2):230–239

    Article  Google Scholar 

  • Park J, Choi J, Pak H, Song S, Lee J, Park Y, Shin S, Sun K (2010) Development of a force-reflecting robotic platform for cardiac catheter navigation. Artif Organs 34(11):1034–1039

    Article  Google Scholar 

  • Riga C, Bicknell C, Rolls A, Cheshire N, Hamady M (2013) Robot-assisted fenestrated endovascular aneurysm repair (FEVAR) using the Magellan system. J Vasc Interv Radiol 24(2):191–196

    Article  Google Scholar 

  • Saliba W, Cummings J, Oh S, Zhang Y, Mazgalev T, Schweikert R, Burkhardt J, Natale A (2006) Novel robotic catheter remote control system: feasibility and safety of transseptal puncture and endocardial catheter navigation. J Cardiovasc Electrophysiol 17(10):1102–1105

    Article  Google Scholar 

  • Schiemann M, Killmann R, Kleen M, SchAbolmaali N, Finney J, Vogl T (2004) Vascular guide wire navigation with a magnetic guidance system: experimental results in a phantom. Radiology 232(2):475–481

    Article  Google Scholar 

  • Srimathveeravalli G, Kesavadas T, Li X (2010) Design and fabrication of a robotic mechanism for remote steering and positioning of interventional devices. Int J Med Robot Comput Assist Surg 6(2):160–170

    Google Scholar 

  • Tavallaei M, Gelman D, Lavdas M, Skanes A, Jones D, Bax J, Drangova M (2016) Design, development and evaluation of a compact telerobotic catheter navigation system. Int J Med Robot Comput Assist Surg 12(3):442–452

    Article  Google Scholar 

  • Taylor R, Stoiariovici D (2003) Medical robotics in computer-integrated surgery. IEEE Trans Robot Autom 19(5):765–781

    Article  Google Scholar 

  • Tercero C, Ikeda S, Uchiyama T, Fukuda T, Arai F, Okada Y, Ono Y, Hattori R, Yamamoto T, Negoro M, Takahashi I (2010) Autonomous catheter insertion system using magnetic motion capture sensor for endovascular surgery. Int J Med Robot Comput Assist Surg 3(1):52–58

    Article  Google Scholar 

  • Thakur Y, Bax J, Holdsworth D, Drangova M (2009) Design and performance evaluation of a remote catheter navigation system. IEEE Trans Biomed Eng 56(7):1901–1908

    Article  Google Scholar 

  • Wang T, Zhang D, Liu D (2010) Remote-controlled vascular interventional surgery robot. Int J Med Robot Comput Assist Surg 6(2):194–201

    Google Scholar 

  • Whitby M, Martin C (2005) A study of the distribution of dose across the hands of interventional radiologists and cardiologists. Br J Radiol 78(927):219–229

    Article  Google Scholar 

  • Xiao N, Guo S, Guo J, Xiao X, Tamiya T (2011) Development of a kind of robotic catheter manipulation system. In: IEEE international conference on robotics and biomimetics, pp 32–37

  • Yin X, Guo S, Xiao N, Tamiya T (2016) Safety operation consciousness realization of a MR fluids-based novel haptic interface for teleoperated catheter minimally invasive neuro surgery. IEEE/ASME Trans Mechatron 21(2):1043–1054

    Article  Google Scholar 

  • Zhao Y, Guo S, Xiao N, Wang Y, Li Y, Jiang Y (2018) Operating force information on-line acquisition of a novel slave manipulator for vascular interventional surgery. Biomed Microdevices. https://doi.org/10.1007/s10544-018-0275-7

    Google Scholar 

Download references

Acknowledgements

This research was supported by National High-tech Research and Development Program (863 Program) of China (No.2015AA043202), and National Key Research and Development Program of China (2017YFB1304401).

Author information

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, Liwei Shi & Nan Xiao

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

    Shuxiang Guo

Authors
  1. Xianqiang Bao
    View author publications

    You can also search for this author in PubMed Google Scholar

  2. Shuxiang Guo
    View author publications

    You can also search for this author in PubMed Google Scholar

  3. Liwei Shi
    View author publications

    You can also search for this author in PubMed Google Scholar

  4. Nan Xiao
    View author publications

    You can also search for this author in PubMed Google Scholar

Corresponding authors

Correspondence to Shuxiang Guo, Liwei Shi or Nan Xiao.

Additional information

Publisher's Note

Springer Nature remains neutral with regard to jurisdictional claims in published maps and institutional affiliations.

Rights and permissions

Reprints and permissions

About this article

Check for updates. Verify currency and authenticity via CrossMark

Cite this article

Bao, X., Guo, S., Shi, L. et al. Design and evaluation of sensorized robot for minimally vascular interventional surgery. Microsyst Technol 25, 2759–2766 (2019). https://doi.org/10.1007/s00542-019-04297-3

Download citation

  • Received:

  • Accepted:

  • Published:

  • Issue Date:

  • DOI: https://doi.org/10.1007/s00542-019-04297-3

Search

Navigation