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Design and evaluation of vascular interventional robot system for complex coronary artery lesions

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Abstract

At present, most vascular intervention robots cannot cope with the more common coronary complex lesions in the clinic. Moreover, the lack of effective force feedback increases the risk of surgery. In this paper, a vascular interventional robot that can collaboratively deliver multiple interventional instruments has been developed to assist doctors in the operation of complex lesions. Based on the doctor’s skills and the delivery principle of interventional instruments, the main and slave manipulators of the robot system are designed. Haptic force feedback is generated through resistance measuring mechanism and active drag system. In addition, a force feedback control strategy based on force–velocity mapping is proposed to realize the continuous change of force and avoid vibration. The proposed robot system was evaluated through a series of experiments. The experimental results show that the system can accurately measure the delivery resistance of interventional instruments, and provide haptic force feedback to doctors. The capability of the system to collaboratively deliver multiple interventional instruments is effective. Therefore, it can be considered that the robot system is feasible and effective.

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Funding

This work was partially supported by the National Key Research and Development Program of China (2019YFB1311700), and partially by Shanghai Clinical Research Center for Aging and Medicine (19MC1910500).

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Authors and Affiliations

  1. Hebei Provincial Key Laboratory of Parallel Robot and Mechatronic System, Yanshan University, Qinhuangdao, 066004, China

    Haoyang Yu, Hongbo Wang & Jianye Niu

  2. Academy for Engineering & Technology, Fudan University, Shanghai, 200433, China

    Hongbo Wang & Fuhao Wang

  3. Shanghai Clinical Research Center for Aging and Medicine, Shanghai, 200040, China

    Hongbo Wang & Fuhao Wang

  4. The Third Hospital of Qinhuangdao, Qinhuangdao, 066001, China

    Jiangyuan Chang

  5. Key Laboratory of Advanced Forging & Stamping Technology and Science (Yanshan University), Ministry of Education of China, Qinhuangdao, 066004, China

    Wenjie Liu & Jianye Niu

Authors
  1. Haoyang Yu
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  2. Hongbo Wang
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  3. Jiangyuan Chang
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  4. Wenjie Liu
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  5. Fuhao Wang
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Contributions

The, research, validation, writing, and writing—review were performed by Haoyang Yu. The methodology, project administration, and funding acquisition were performed by Hongbo Wang. The data collection and experiment execution were performed by Jiangyuan Chang. The software and data analysis were performed by Wenjie Liu. The conceptualization and material preparation were performed by Fuhao Wang. The resources, supervision, and project administration were performed by Jianye Niu.

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Correspondence to Jianye Niu.

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Yu, H., Wang, H., Chang, J. et al. Design and evaluation of vascular interventional robot system for complex coronary artery lesions. Med Biol Eng Comput 61, 1365–1380 (2023). https://doi.org/10.1007/s11517-023-02775-5

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  • DOI: https://doi.org/10.1007/s11517-023-02775-5

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