Abstract
Robot-assisted interventional surgery can greatly reduce the radiation received by surgeons during the operation, but the lack of force detection and force feedback is still a risk in the operation which may harm the patient. In those robotic surgeries, the traditional force detection methods may have measurement losses and errors caused by mechanical transmission and cannot identify the direction of the force. In this paper, an interventional surgery robot system with a force detection device is designed and a new force detection method based on strain gauges is proposed to detect the force and infer the bending direction of the catheter in the vessel by using BP neural network. In addition, genetic algorithm is used to optimize the BP neural network, and the error between the calculated results and the actual results is reduced by 37%, which improves the accuracy of catheter bending recognition. Combining this new method with traditional force sensors not only reduces the error caused by the traditional mechanical transmission, but also can detect the bending direction of the catheter in the blood vessel, which greatly improves the safety of the operation.
Highlights
Cardiovascular and cerebrovascular diseases are some of the most serious diseases that threaten human life and health
The interventional surgical robot was used to push the catheter into the blood vessel model, shown in Figure 11, at a constant speed until the catheter head completely passed through the first blood vessel bend
The output voltage of the strain gauge circuits was recorded during the pushing process, and the experiment was repeated many times to prevent the inaccurate training of the neural network caused by insufficient data
Summary
Cardiovascular and cerebrovascular diseases are some of the most serious diseases that threaten human life and health. In the traditional operation process, the digital subtraction angiography system (DSA) is needed for positioning, even if wearing heavy metal protective clothing, the surgeons operating the catheter will still be injured by radiation [3]. The surgeons must stand beside the patient and position the catheter and guidewire to the target location under the guidance of the digital subtraction angiography (DSA) system. This process often lasts for several hours, which may cause fatigue and tremor of the surgeon’s hands, thereby affecting the success of the operation and even threatening the life of the patient. Researchers around the world are increasingly interested in vascular interventional surgery robots which can perform remote surgery to reduce the fatigue and physical harm to the surgeons
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