Advertisement

Design and evaluation of sensorized robot for minimally vascular interventional surgery

  • Xianqiang Bao
  • Shuxiang GuoEmail author
  • Liwei ShiEmail author
  • Nan XiaoEmail author
Technical Paper
  • 13 Downloads

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.

Notes

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).

References

  1. 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 2944–2949Google Scholar
  2. 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 431–436Google Scholar
  3. 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 422–426Google Scholar
  4. 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
  5. 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
  6. 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):296–300CrossRefGoogle Scholar
  7. 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):523–529CrossRefGoogle Scholar
  8. 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):2980–2985CrossRefGoogle Scholar
  9. 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 5338–5343Google Scholar
  10. 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):125–135CrossRefGoogle Scholar
  11. 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 79–84Google Scholar
  12. 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 67–72Google Scholar
  13. 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):76–92CrossRefGoogle Scholar
  14. 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
  15. Jayender J, Azizian M, Patel R (2008) Autonomous image-guided robot-assisted active catheter insertion. IEEE Trans Robot 24(4):858–871CrossRefGoogle Scholar
  16. Jones L (2000) Kinesthetic sensing. In: Cutkosky M, Howe R, Salisbury K, Srinivasan M (eds) Human and machine haptics. MIT Press, CambridgeGoogle Scholar
  17. Kesner SB, Howe RD (2011) Force control of flexible catheter robots for beating heart surgery. In: IEEE international conference on robotics and automation pp 1589–1594Google Scholar
  18. 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):121–129CrossRefGoogle Scholar
  19. 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):432–438CrossRefGoogle Scholar
  20. Marcelli E, Cercenelli L, Plicchi G (2008) A novel telerobotic system to remotely navigate standard electrophysiology catheters. Comput Cardiol 35:137–140Google Scholar
  21. 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):230–239CrossRefGoogle Scholar
  22. 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):1034–1039CrossRefGoogle Scholar
  23. 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):191–196CrossRefGoogle Scholar
  24. 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):1102–1105CrossRefGoogle Scholar
  25. 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):475–481CrossRefGoogle Scholar
  26. 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):160–170Google Scholar
  27. 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):442–452CrossRefGoogle Scholar
  28. Taylor R, Stoiariovici D (2003) Medical robotics in computer-integrated surgery. IEEE Trans Robot Autom 19(5):765–781CrossRefGoogle Scholar
  29. 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):52–58CrossRefGoogle Scholar
  30. 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):1901–1908CrossRefGoogle Scholar
  31. Wang T, Zhang D, Liu D (2010) Remote-controlled vascular interventional surgery robot. Int J Med Robot Comput Assist Surg 6(2):194–201Google Scholar
  32. 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):219–229CrossRefGoogle Scholar
  33. 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 32–37Google Scholar
  34. 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):1043–1054CrossRefGoogle Scholar
  35. 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

Copyright information

© Springer-Verlag GmbH Germany, part of Springer Nature 2019

Authors and Affiliations

  1. 1.Key Laboratory of Convergence Medical Engineering System and Healthcare Technology, Ministry of Industry and Information TechnologyBeijing Institute of TechnologyBeijingChina
  2. 2.Intelligent Mechanical Systems Engineering DepartmentKagawa UniversityTakamatsuJapan

Personalised recommendations