Abstract
Vascular intervention involves inserting a catheter and guidewire into blood vessels to diagnose and treat a disease in an X-ray environment. In this conventional vascular intervention procedure, the doctor is exposed to considerable radiation. To reduce the exposure, we developed a master–slave robot system. A steerable catheter is employed to shorten the task-time and reduce the contact force applied to the vessel walls during catheter insertion. The steerable catheter helps to select a vascular branch; thus, the radiation exposure time for patients is reduced, and perforation in the patient’s vessel is prevented. Additionally, the robot system employs a haptic function to replicate the physician’s tactile sensing in vascular intervention. In this study, the effectiveness of the steering catheter and haptic function was demonstrated experimentally in comparison with a conventional catheter.
Highlights
The catheter-based approach is an important and common method for treating vascular and cardiac disease
By applying the haptic function in Scenario 3, the average measured force could be reduced by allowing the user to manipulate the catheter without exerting an excessive force on the vessel wall
For Target 1, the task-time was reduced by 8.07% when the steering catheter was used and was reduced by 49.07% when the haptic function was added
Summary
The catheter-based approach is an important and common method for treating vascular and cardiac disease. To reduce the time needed to select a vascular branch with a catheter, it is necessary to develop a steering catheter whose tip is capable of bending freely according to the curvature of the blood vessel. The Sensei robotic system has a robotically steerable sheath for intracardiac electrophysiology procedures It provides contact-force feedback via a visual display on the workstation and vibration feedback on the motion controller. The 4-DOF robotic system controls the guidewire and the catheter, and the 5-DOF robotic system includes a steerable catheter. Both systems offer the haptic feedback function. It does not provide any exact information, because the contact force of the guidewire is measured indirectly according to the current of the actuator. By using the steering catheter and haptic function, the task-time and the repulsive force were significantly reduced compared with the case of a curved catheter
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