A Novel Robot-Assisted Endovascular Catheterization System With Haptic Force Feedback
| Autor: | Hidenori Ishihara, Xuanchun Yin, Takashi Tamiya, Yu Song, Linshuai Zhang, Hideyuki Hirata, Shuxiang Guo |
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| Rok vydání: | 2019 |
| Předmět: |
0209 industrial biotechnology
Computer science Endovascular surgery 02 engineering and technology Kinematics Haptic force feedback Computer Science Applications body regions Catheter 020901 industrial engineering & automation Robotic systems Control and Systems Engineering Robot Electrical and Electronic Engineering Simulation ComputingMethodologies_COMPUTERGRAPHICS Haptic technology Gesture |
| Zdroj: | IEEE Transactions on Robotics. 35:685-696 |
| ISSN: | 1941-0468 1552-3098 |
| DOI: | 10.1109/tro.2019.2896763 |
| Popis: | The robot-assisted endovascular catheterization system (RAECS) has the potential to address some of the procedural challenges and separate interventionalists from the X-ray radiation during the endovascular surgery. However, the employment of robotic systems is partly changing the natural gestures and behavior of medical professionals. This paper presents a RAECS that augments surgeon's motions using the conventional catheter as well as generates the haptic force feedback to ensure surgery safety. The magnetorheological fluids based haptic interfaceexperiment is proposed to measure the actions of the operator and provide the haptic force. The slave catheter manipulator is presented to actuate the patient catheter in two degrees of freedom (radial and axial direction). In addition, a force model is provided to characterize the kinematics of the catheter intervention. Afterward, the “pseudocollision” and “real collision” are utilized to descript the catheter tip–vessel interaction. The in vitro results are presented, which demonstrate that catheter-based haptic force feedback has a benefit for improving catheterization skills as well as reducing the cognitive workload of operators. |
| Databáze: | OpenAIRE |
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