Abstract
Conventional vascular intervention (VI) procedures are typically performed manually under exposure to X-rays, whereby several problems are presented that need to be addressed owing to the patients and doctors being exposed to large amounts of radiation. In such cases, employing radiation protection units is not a long-term solution to avoid physical damage. Therefore, to overcome these issues, we propose a robotic VI system in this study. Moreover, we compare the extent of radiation exposure in the case of the conventional manual VI procedure with that in the case of the robotic procedure. The radiation exposure is then analyzed from the perspective of the doctor. Subsequently, the results of usability tests for two proposed master devices are presented in terms of the NASA task load index (NASA-TLX) and the system usability scale (SUS) score. To verify the effectiveness of the robotic VI system, animal experiments are conducted using a pig model. Among the two types of master devices tested with the proposed robotic VI system, the ergonomically designed 2-degree-of-freedom master device is found to be more effective than the joystick-type device in terms of the usability test scores. Hence, the proposed robotic VI procedure is shown to be advantageous in terms of reducing radiation exposure and improving usability.
Highlights
Conventional vascular intervention (VI) procedures are used to diagnose and treat diseases of the vascular system with the aid of catheters, guidewires, and various interventional devices, such as balloons and stents, with minimal incisions
The 2 degree of freedom (DOF) joystick-type master device may be suitable for robotic VI procedures targeting easy blood vessels, but it is unsuitable for procedures targeting difficult or tortuous blood vessels
We presented the results of the usability tests for two different master robotic devices and assessed the reduction in radiation exposure during the robotic VI procedure from the operator perspective
Summary
Conventional vascular intervention (VI) procedures are used to diagnose and treat diseases of the vascular system with the aid of catheters, guidewires, and various interventional devices, such as balloons and stents, with minimal incisions. The study concluded that due to its active maneuverability, control, and stability, the robotic system is likely to reduce contact with the atheromatous aortic arch wall, thereby resulting in less cerebral embolization These robots face limitations when operating with only catheters and guidewires. A 7 DOFs VI slave robot system was developed to control the motions of the catheter, guidewire, microcatheter, and micro guide wire. When the user operates the handle, the measured force and torque f are converted to a position command uarm of the 5 DOFs robot arm through admittance control according to the expression uarm = [A] f ,.
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