A Remote-Controlled Robotic System with Safety Protection Strategy Based on Force-Sensing and Bending Feedback for Transcatheter Arterial Chemoembolization.

Junqiang Zhou,Yang Zhao,Daoheng Sun,Ziyang Mei,Jia Miao,Jingsong Mao,Lingyun Wang,Dezhi Wu

doi:10.3390/mi11090805

Abstract

Transcatheter arterial chemoembolization (TACE) is the common choice of non-open surgery for hepatocellular carcinoma (HCC) now. In this study, a simple TACE robotic system of 4-degree-of-freedom is proposed to get higher accuracy and stability of the surgery operation and reduce X-ray exposure time of the surgeons. The master–slave control strategy is adopted in the robotic system and a customized sigmoid function is designed to optimize the joystick control of the master–slave robotic control system. A force-sensing module is developed to sense the resistance of the guide wire in linear delivery motion and an auxiliary bending feedback method based on constraint pipe with a film sensor is proposed. With two force-sensing methods, the safety strategy of robotic motion with 9 different motion constraint coefficients is given and a human–computer interface is developed. The TACE robot would monitor the value of the force sensor and the analog voltage of the film sensor to adopt the corresponding motion constraint coefficient in every 10 ms. Vascular model experiments were performed to validate the robotic system, and the results showed that the safety strategy could improve the reliability of the operation with immediate speed constraint and avoid potential aggressive delivery.

Highlights

Vascular interventional surgery (VIS) is widely used in treating tumors because of its trauma with minimal hemorrhage and short recovery time
DOFDmuortiFinoignlmtahnSedeonsppseoerreadti.oTnh, DtehaTenAsguCMerrEgoideurdooslbne(o’>st1cwoVon)utrlodl of the0jo.8ystick would0d.4et5ermine the TAC0E.1robot’s 4monito0r.3the force sign0a.l2of the designed fo0rce sensor and the analog voltage signal of the film sensor every 10 ms, the motion constraint parameter of the robot is maintained the value of 1 when the conditions of the force sensor and the film sensor are both evaluated safe and once the evaluations change, the motion constraint will be changed less than 1 ms and the speed of the guide wire/catheter could be adjusted automatically according to the motion constraint coefficient
In transcatheter arterial chemoembolization (TACE) robot system, force-sensing module could measure the resistance of the guide wire delivery and auxiliary bending feedback method is mainly to evaluate the level of catheter delivery, their work is relatively independent

Summary

Introduction

Vascular interventional surgery (VIS) is widely used in treating tumors because of its trauma with minimal hemorrhage and short recovery time. Wang designed a similar friction-wheel driving mechanism and the remote-controlled delivery and rotation of the guide wire was performed successfully to an adult dog in their robotic surgery, they tried to wrap the tip of the guide wire with polyvinylidene fluoride (PVDF) to detect the contact force of the delivery operation [11,12]. The guide wire (0.18 or 0.35 mm diameter often, with a smooth surface) is clamped by the squeeze of the wheel or belt, relative slippage displacement of the guide wire and the clamping point is needed in the delivery movement and it would affect the delivery accuracy Another problem is that the friction-wheel or friction-belt driving is difficult to realize the detection of the guide wire delivery resistance with relevant suitable structural, the methods of detecting the delivery resistance are not developed in these introduced commercial robots. CvoennvteinotnioanlaTl TAACCEE pprroocceesss.s(.a)(Ra)HRcaHthcetaetrhinesteerrtiionns; e(br)tiRoHn;ca(tbh)etRerHplcacaetmheentet;r(cp) lGauciedme ent; (c) Guide wire pwlaicreepmlaecnemt;e(ndt;)(Cd)aCthatehteeterrpplacceemmenetn; t(e; )(Ge)uGideuwidireewremireovreedmanodveemdbaonlidsmeimnjebcotiloins.m injection

Mechanical Structure

Conclusions