Advertisement

Performance evaluation of a robot-assisted catheter operating system with haptic feedback

  • Yu Song
  • Shuxiang Guo
  • Xuanchun Yin
  • Linshuai Zhang
  • Hideyuki Hirata
  • Hidenori Ishihara
  • Takashi Tamiya
Article
  • 51 Downloads

Abstract

In this paper, a novel robot-assisted catheter operating system (RCOS) has been proposed as a method to reduce physical stress and X-ray exposure time to physicians during endovascular procedures. The unique design of this system allows the physician to apply conventional bedside catheterization skills (advance, retreat and rotate) to an input catheter, which is placed at the master side to control another patient catheter placed at the slave side. For this purpose, a magnetorheological (MR) fluids-based master haptic interface has been developed to measure the axial and radial motions of an input catheter, as well as to provide the haptic feedback to the physician during the operation. In order to achieve a quick response of the haptic force in the master haptic interface, a hall sensor-based closed-loop control strategy is employed. In slave side, a catheter manipulator is presented to deliver the patient catheter, according to position commands received from the master haptic interface. The contact forces between the patient catheter and blood vessel system can be measured by designed force sensor unit of catheter manipulator. Four levels of haptic force are provided to make the operator aware of the resistance encountered by the patient catheter during the insertion procedure. The catheter manipulator was evaluated for precision positioning. The time lag from the sensed motion to replicated motion is tested. To verify the efficacy of the proposed haptic feedback method, the evaluation experiments in vitro are carried out. The results demonstrate that the proposed system has the ability to enable decreasing the contact forces between the catheter and vasculature.

Keywords

Robot-assisted catheter operating system (RCOS) Magnetorheological (MR) fluids Haptic interface Catheter manipulator Haptic feedback 

Notes

Acknowledgments

This research is partly supported by National High-tech Research and Development Program (863 Program) of China (No.2015AA043202), and SPS KAKENHI Grant Number 15 K2120.

References

  1. X. Bao, S. Guo, N. Xiao, Y. Li, C. Yang, Y. Jiang, A cooperation of catheters and guidewires-based novel remote-controlled vascular interventional robot. Biomed. Microdevices (2018a).  https://doi.org/10.1007/s10544-018-0261-0
  2. X. Bao, S. Guo, N. Xiao, Y. Li, C. Yang, R. Shen, J. Cui, Y. Jiang, X. Liu, K. Liu, Operation evaluation in-human of a novel remote-controlled vascular interventional robot. Biomed. Microdevices 20, 34 (2018b).  https://doi.org/10.1007/s10544-018-0277-5 CrossRefGoogle Scholar
  3. J. Blake, H.B. Gurocak, Haptic glove with MR brakes for virtual reality. IEEE/ASME Trans. Mechatron. 14(5), 606–615 (2009)CrossRefGoogle Scholar
  4. H. Boessenkool, D.A. Abbink, C.J.M. Heemskerk, F.C.T. van der Helm, J.G.W. Wildenbeest, A task-specific analysis of the benefit of haptic shared control during telemanipulation. IEEE Trans. Haptic. 6(1), 2–12 (2013)CrossRefGoogle Scholar
  5. G. Bossis, S. Lacis, A. Meunier, O. Volkova, Magnetorheological fluids. J. Magn. Magn. Mater. 252, 224–228 (2002)CrossRefGoogle Scholar
  6. J.D. Carlson, D.M. Catanzarite, K.A.S. Clair, Commercial magneto-rheological fluid devices. Int. J. Modern Physics B. 10(23/24), 2857–2865 (1996)CrossRefGoogle Scholar
  7. H.J. Cha, B.J. Yi, J.Y. Won, An assembly-type master–slave catheter and guidewire driving system for vascular intervention. Proc. Inst. Mech. Eng. H J. Eng. Med. 231(1), 69–79 (2017)CrossRefGoogle Scholar
  8. M.D. Fabrizio, B.R. Lee, D.Y. Chan, D. Stoianovici, T.W. Jarrett, C. Yang, L.R. Kavoussi, M.D. Fabrizio, B.R. Lee, D.Y. Chan, D. Stoianovici, T.W. Jarrett, C. Yang, L.R. Kavoussi, Effect of time delay on surgical performance during telesurgical manipulation. J. Endourol. 14(2), 133–138 (2000)CrossRefGoogle Scholar
  9. 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
  10. T.S. Lendvay, B. Hannaford, R.M. Satava, Future of robotic surgery. Cancer J. 19(2), 109–119 (2013)CrossRefGoogle Scholar
  11. R. Madder, P. Campbell, E. Mahmud, D. Wohns, T. Stys, R. Caputo, M. Leimbach, M. Parikh, V. Kasi, G. Weisz, Multi-center post-market registry for the evaluation of robotic assisted PCI. J. Am. Coll. Cardiol. 67((13), 224 (2016)CrossRefGoogle Scholar
  12. E. Maor, M.F. Eleid, R. Gulati, A. Lerman, G.S. Sandhu, Current and future use of robotic devices to perform percutaneous coronary interventions: A review. J. Am. Heart Assoc. 6, e006239 (2017).  https://doi.org/10.1161/JAHA.117.006239 CrossRefGoogle Scholar
  13. N. Najmaei, A. Asadian, M.R. Kermani, R.V. Patel, Design and performance evaluation of a prototype MRF-based haptic Interface for medical applications. IEEE/ASME transactions on. Mechatronics 21(1), 110–121 (2016)Google Scholar
  14. N. Najmaei, M.R. Kermani, R.V. Patel, Suitability of small-scale magnetorheological fluid-based clutches in haptic interfaces for improved performance. IEEE/ASME Trans. Mechatron. 20(4), 1863–1874 (2014)CrossRefGoogle Scholar
  15. A.M. Okamura, C. Basdogan, S. Baillie, Haptics in medicinal and clinical skill acquisition. IEEE Trans. Haptics. 4(3), 153–154 (2011)CrossRefGoogle Scholar
  16. M.K. O’Malley, A. Gupta, M. Gen, Y. Li, Shared control in haptic systems for performance enhancement and training. J. Dyn. Syst. Meas. Control. 128(1), 75–85 (2006)CrossRefGoogle Scholar
  17. C. Pacchierotti, M. Abayazid, S. Misra, D. Prattichizzo, Teleoperation of steerable flexible needles by combining kinesthetic and vibratory feedback. IEEE Trans. Haptic. 7(4), 551–556 (2014)CrossRefGoogle Scholar
  18. X.D. Pang, H.Z. Tan, N. Durlach, Manual discrimination of force using active finger motion. Percept. Psychophys. 49(6), 531–540 (1991)CrossRefGoogle Scholar
  19. P. Polygerinos, L.D. Seneviratne, R. Razavi, T. Schaeffter, K. Althoefer, Triaxial catheter tip force sensor for MRI guided cardiac procedures. IEEE/ASME Trans. Mechatron. 18(1), 386–398 (2013)CrossRefGoogle Scholar
  20. H. Rafii-Tari, J. Liu, S.-L. Lee, C. Bicknell, G.-Z. Yang, Learning based modeling of endovascular navigation for collaborative robotic catheterization. International conference on medical image computing and computer-assisted intervention. 369–377 (2013)Google Scholar
  21. H. Rafii-Tari, C.J. Payne, G.Z. Yang, Current and emerging robot-assisted endovascular catheterization technologies: A review. Ann. Biomed. Eng. 42(4), 697–715 (2014)CrossRefGoogle Scholar
  22. A.S. Shafer, M.R. Kermani, Design and validation of a magneto-rheological clutch for practical control applications in human-friendly manipulation. In Robotics and Automation (ICRA), 4266–4271 (2011)Google Scholar
  23. 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. Microsyst. Technol. 24(2), 909–918 (2018)CrossRefGoogle Scholar
  24. Y. Song, S. Guo, X. Yin, L. Zhang, M. Yu, Haptic feedback in robot-assisted endovascular catheterization. IEEE Int. Conf. Mechatron. Autom., 404–409 (2017)Google Scholar
  25. G. Srimathveeravalli, T. Kesavadas, X. Li, Design and fabrication of a robotic mechanism for remote steering and positioning of interventional devices. Int. J. Med. Rob. Comput. Assisted. Surg. 6(2), 160–170 (2010)Google Scholar
  26. A. Stephanie, K. Koel, T. Josephine, C.C. Yiu, Robotic endovascular surgery. Asian Cardiovasc. Thorac. Ann. 22(1), 110–114 (2013)Google Scholar
  27. 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 (2009)CrossRefGoogle Scholar
  28. O. Tohyama, S. Maeda, H. Itoh, Fiber-optic tactile microsensor for detecting the position of the tip of a fiberscope. J. Sel. Top. Quantum Electron. 5(1), 115–118 (1999)CrossRefGoogle Scholar
  29. Y. Wang, S. Guo, Y. Li, T. Tamiya, Y. Song, Design and evaluation of safety operation VR training system for robotic catheter surgery. Med. Biol. Eng. Comput. 56, 25 (2017).  https://doi.org/10.1007/s11517-017-1666-2 CrossRefGoogle Scholar
  30. 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. Int. J. Med. Rob. Comput. Assisted Surg. 13(3) (2016)Google Scholar
  31. G. Weisz, D.C. Metzger, R.P. Caputo, J.A. Delgado, J.J. Marshall, G.W. Vetrovec, M. Reisman, R. Waksman, J.F. Granada, V. Novack, J.W. Moses, J.P. Carrozza, Safety and feasibility of robotic percutaneous coronary intervention PRECISE (percutaneous robotically-enhanced coronary intervention) study. J. Am. Coll. Cardiol. 61(15), 1596–1600 (2013)CrossRefGoogle Scholar
  32. 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 (2016a)CrossRefGoogle Scholar
  33. 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 neurosurgery. IEEE/ASME Trans. Mechatron. 21(2), 1043–1054 (2016b)CrossRefGoogle Scholar
  34. Y. Zhao, S. Guo, N. Xiao, Y. Wang, Y. Li, Y. Jiang, Operating force information on-line acquisition of a novel slave manipulator for vascular interventional surgery. Biomed. Microdevices 20, 33 (2018).  https://doi.org/10.1007/s10544-018-0275-7 CrossRefGoogle Scholar

Copyright information

© Springer Science+Business Media, LLC, part of Springer Nature 2018
corrected publication June/2018

Authors and Affiliations

  • Yu Song
    • 1
  • Shuxiang Guo
    • 2
    • 3
  • Xuanchun Yin
    • 4
  • Linshuai Zhang
    • 1
  • Hideyuki Hirata
    • 3
  • Hidenori Ishihara
    • 3
  • Takashi Tamiya
    • 5
  1. 1.Graduate School of EngineeringKagawa UniversityTakamatsuJapan
  2. 2.Key Laboratory of Convergence Medical Engineering System and Healthcare Technology, the Ministry of Industry and Information TechnologyBeijing Institute of TechnologyBeijingChina
  3. 3.Faculty of EngineeringKagawa UniversityTakamatsuJapan
  4. 4.College of EngineeringSouth China Agricultural UniversityGuangzhouChina
  5. 5.Department of Neurological Surgery Faculty of MedicineKagawa UniversityTakamatsuJapan

Personalised recommendations