A Vascular Intervention Assist Device Using Bi-Motional Roller Cartridge Structure and Clinical Evaluation.

Jaesoon Choi,Sangeun Park,Jueun Choi,Young-Hak Kim,Youngjin Moon

doi:10.3390/bios11090329

Jaesoon Choi, Sangeun Park + Show 3 more

Open Access

https://doi.org/10.3390/bios11090329

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Journal: Biosensors	Publication Date: Sep 10, 2021
Citations: 12	License type: CC BY 4.0

Affiliation: University of Ulsan, Asan Medical Center, Ulsan College

Abstract

Conventional vascular intervention procedures present issues including X-ray exposure during operation, and an experience-dependent success rate and clinical outcome. This paper presents a novel robotic system using modularized bi-motional roller cartridge assemblies for robotic vascular interventions, specifically percutaneous coronary interventions (PCIs). The patient-side robot manipulates instruments such as the guiding catheter, guidewire, balloon/stent catheter, and diagnostic sensor catheter via commands from the user interface device, which is controlled by the physician. The proposed roller cartridge assembly can accommodate instruments of various sizes with an active clamping mechanism, and implements simultaneous translation and rotation motions. It also implements force feedback in the physician-side system, to effectively monitor the patient-side system’s status. The positioning accuracy and precision in using the robotic system showed satisfactory performance in a phantom-based test. It was also confirmed, through animal experiments and a pilot clinical trial, that the system demonstrates feasibility for clinical use.

Highlights

Percutaneous coronary intervention (PCI) is one of the representative vascular intervention procedures used to treat coronary artery disease (CAD) in a minimally invasive manner
A master–slave robotic system with roller cartridge-based modules for robotic car ovascular intervention has been developed for clinical application
A master–slave robotic system with roller cartridge-based modules for robotic cardiovascular intervention has been developed for clinical application

Summary

Introduction

Percutaneous coronary intervention (PCI) is one of the representative vascular intervention procedures used to treat coronary artery disease (CAD) in a minimally invasive manner. The procedure has an unavoidable dependence on fluoroscopy or angiography systems [1,2], and the clinical outcome and complication rate vary widely among physicians with different experience levels. Even for experienced physicians, a considerably long time may be needed, depending on the type of procedure [3,4]. To assist cardiovascular and peripheral vascular intervention procedures, have been developed. The robotic systems’ primary advantage is the reduction in radiation exposure, due to the teleoperation configuration [5,6,7]

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Discussion

Conclusion