Abstract
A teleoperated robotic catheter operating system is a solution to avoid occupational hazards caused by repeated exposure radiation of the surgeon to X-ray during the endovascular procedures. However, inadequate force feedback and collision detection while teleoperating surgical tools elevate the risk of endovascular procedures. Moreover, surgeons cannot control the force of the catheter/guidewire within a proper range, and thus the risk of blood vessel damage will increase. In this paper, a magnetorheological fluid (MR)-based robot-assisted catheter/guidewire surgery system has been developed, which uses the surgeon’s natural manipulation skills acquired through experience and uses haptic cues to generate collision detection to ensure surgical safety. We present tests for the performance evaluation regarding the teleoperation, the force measurement, and the collision detection with haptic cues. Results show that the system can track the desired position of the surgical tool and detect the relevant force event at the catheter. In addition, this method can more readily enable surgeons to distinguish whether the proximal force exceeds or meets the safety threshold of blood vessels.
Highlights
IntroductionA report from the American Heart Association (AHA) shows that cardiovascular and cerebrovascular diseases have become one of the three leading causes (heart disease, stroke, and vascular diseases) of death in humans
A report from the American Heart Association (AHA) shows that cardiovascular and cerebrovascular diseases have become one of the three leading causes of death in humans
Various diameters of of catheters and guidewires willwill be used in vascular intervenIn addition, various diameters catheters and guidewires used in vascular interaddition, various diameters of catheters and guidewires will be be used in vascular interventional surgery (VIS)
Summary
A report from the American Heart Association (AHA) shows that cardiovascular and cerebrovascular diseases have become one of the three leading causes (heart disease, stroke, and vascular diseases) of death in humans. With the rapid development of medical technology, vascular interventional surgery (VIS) has attracted wide attention because it has the advantages of a small incision, rapid recovery, and fewer complications. It has become the common practice for diagnosing and treating various cardiac and vascular diseases, such as arterial stenosis, thrombosis, and atherosclerosis. A flexible catheter and guidewire that is usually inserted along the patient’s blood vessels through a small incision of the femoral artery in the groin or the radial artery in the wrist into the target of the lesion.
Sign-in/Register to view highlights & summary Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callDisclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
