Abstract
Interventional surgical robots are widely used in neurosurgery to improve surgeons’ working environment and surgical safety. Based on the actual operational needs of surgeons’ feedback during preliminary in vivo experiments, this paper proposed an isomorphic interactive master controller for the master–slave interventional surgical robot. The isomorphic design of the controller allows surgeons to utilize their surgical skills during remote interventional surgeries. The controller uses the catheter and guidewire as the operating handle, the same as during actual surgeries. The collaborative operational structure design and the working methods followed the clinical operational skills. The linear force feedback and torque feedback devices were designed to improve the safety of surgeries under remote operating conditions. An eccentric force compensation was conducted to achieve accurate force feedback. Several experiments were carried out, such as calibration experiments, master–slave control performance evaluation experiments, and operation comparison experiments on the novel and previously used controllers. The experimental results show that the proposed controller can perform complex operations in remote surgery applications and has the potential for further animal experiment evaluations.
Highlights
According to the 2020 world health statistics published by the World Health Organization, cardiovascular diseases caused 17.9 million deaths in 2016, being the most fatal among all non-communicable diseases [1]
Upon completion of the design of the master controller, it is necessary to improve the accuracy of the controller force feedback and evaluate the surgical performance of the robot system
To achieve accurate force feedback, a dynamic force test is used to establish a fitting relationship between the eccentric operating force and the axial force sensor data, and its accuracy is verified by static measurements
Summary
According to the 2020 world health statistics published by the World Health Organization, cardiovascular diseases caused 17.9 million deaths in 2016, being the most fatal among all non-communicable diseases [1]. The traditional open surgery treatments of cardiovascular diseases are harmful to patients and not conducive to postoperative recovery. Interventional surgery has recently become the primary treatment of cardiovascular diseases. During interventional surgeries, surgeons create tiny incisions at the patients’ femoral artery or radial artery and insert a catheter and guidewire for operation. The catheter plays a supporting role during the operation, whereas the guidewire plays a guiding and positioning role. After reaching the target position, the surgeon withdraws the guidewire and delivers the stent or medication through the catheter
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