Operating force information on-line acquisition of a novel slave manipulator for vascular interventional surgery

Article
  • 42 Downloads

Abstract

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.

Keywords

Vascular interventional surgery Robot-assisted surgery Slave manipulator Operating force acquisition 

Notes

Acknowledgements

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).

References

  1. 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
  2. L. Cercenelli, B. Bortolani, E. Marcelli, CathROB: A highly compact and versatile remote catheter navigation system. Applied Bionics and Biomechanics 2017(8), 1–13 (2017)CrossRefGoogle Scholar
  3. J. Dankelman, J.J. van den Dobbelsteen, P. Breedveld, in Proceedings of 2011 International Conference on Instrumentation Control and Automation. Current technology on minimally invasive surgery and interventional techniques (IEEE Press, Bandung, 2011), pp. 12–15CrossRefGoogle Scholar
  4. 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
  5. 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
  6. 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
  7. D. Gelman, A.C. Skanes, M.A. Tavallaei, M. Drangova, Design and evaluation of a catheter contact-force controller for cardiac ablation therapy. IEEE Trans. Biomed. Eng. 63(11), 2301–2307 (2016)CrossRefGoogle Scholar
  8. 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
  9. J. Guo, S. Guo, N. Xiao, X. Ma, S. Yoshida, T. Tamiya, M. Kawanishi, A novel robotic catheter system with force and visual feedback for vascular interventional surgery. International Journal of Mechatronics and Automation. 2(1), 15–24 (2012)CrossRefGoogle Scholar
  10. 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
  11. J. Guo, S. Guo, Y. Yu, Design and characteristics evaluation of a novel teleoperated robotic catheterization system with force feedback for vascular interventional surgery. Biomed. Microdevices 18(5), 76 (2016)CrossRefGoogle Scholar
  12. 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
  13. X. Liu, G. Xu, R. Zhang, Endovascular management for stroke (People’s medical publishing house, Beijing, 2006), pp. 134–136Google Scholar
  14. 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
  15. Y. Thakur, J.S. Bax, D.W. Holdsworth, M. Drangova, Design and performance evaluation of a remote catheter navigation system. IEEE Trans. Biomed. Eng. 56(7), 1901–1908 (2009a)CrossRefGoogle Scholar
  16. Y. Thakur, D.W. Holdsworth, M. Drangova, Characterization of catheter dynamics during percutaneous transluminal catheter procedures. IEEE Trans. Biomed. Eng. 56(8), 2140–2143 (2009b)CrossRefGoogle Scholar
  17. 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
  18. Y. Wang, S. Guo, B. Gao, Vascular Elastcity determined mass-spring model for virtual reality simulators. International Journal of Mechatronics and Automation. 5(1), 1–10 (2015)CrossRefGoogle Scholar
  19. Y. Wang, S. Guo, T. Tamiya, H. Hirata, H. Ishihara, X. Yin, A virtual-reality simulator and force sensation combined catheter operation training system and its preliminary evaluation. International Journal of Medical Robotics and Computer Assisted Surgery. 13, e1769 (2016)CrossRefGoogle Scholar
  20. N. Xiao, J. Guo, S. Guo, T. Tamiya, A robotic catheter system with real-time force feedback and monitor. Australasian Physical & Engineering Sciences in Medicine 35(3), 283–289 (2012)CrossRefGoogle Scholar
  21. X. Yin, S. Guo, H. Hirata, H. Ishihara, Design and experimental evaluation of a Teleoperated haptic robot assisted catheter operating system. J. Intell. Mater. Syst. Struct. 27(1), 3–16 (2014)CrossRefGoogle Scholar
  22. X. Yin, S. Guo, N. Xiao, T. Tamiya, H. Hirata, H. Ishihara, Safety operation consciousness realization of a MR fluids-based novel haptic Interface for teleoperated catheter minimally invasive Neuro surgery. IEEE/ASME Transactions on Mechatronics. 21(2), 1043–1054 (2015)CrossRefGoogle Scholar
  23. 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

Copyright information

© Springer Science+Business Media, LLC, part of Springer Nature 2018

Authors and Affiliations

  1. 1.Key Laboratory of Convergence Biomedical Engineering System and Healthcare Technology, The Ministry of Industry and Information Technology, School of Life ScienceBeijing Institute of TechnologyBeijingChina
  2. 2.Faculty of EngineeringKagawa UniversityTakamatsuJapan
  3. 3.Department of Interventional Neuroradiology, Beijing Neurosurgical Institute and Beijing Tiantan HospitalCapital Medical UniversityBeijingChina

Personalised recommendations