Abstract
During conventional catheter endovascular procedures, surgeons needs to adjust the catheter intervention moving direction and velocity according to the direct sensation. Moreover, in the conventional method, both the surgeon and the patient are inevitable exposed to a large amount of, and for a long period of time, X-ray radiation during the surgical procedure. The purpose of this paper is to ensure surgical safety and to protect the surgeon from X-ray radiation during the surgical procedure by adopting a novel haptic-based robot-assisted master-slave system mode. In this paper, a kind of magnetorheological fluids (MR fluids)-based haptic interface has been developed to generate a kind of controllable haptic sensation providing to the catheter operator, and the catheter intervention kinematics parameters measured the motion capture part to control the salve robotic catheter operating system following the master side kinematics. The slave catheter operating the mechanical system has also been designed and manufactured to manipulate the clinical catheter by mimicking the surgeon operating the catheter intervention surgical procedure, which has a 2-DOF (advance, retreat, and rotate) catheter motion characteristic; in addition, the interaction force between the catheter and inner wall of vasculature can be measured by its force sensing unit and the feedback to the master system. The catheter intervention synchronous evaluation experiments between the master and slave system are tested. Also, the advantages of integrating the controllable haptic sensation to the master-slave system experimental evaluations have been done in vitro. The experimental results demonstrated that the proposed haptic-based robot-assisted master-slave system mode can reduce the surgical time and protect the surgeon from X-ray radiation.
Highlights
Cardiovascular diseases are the major cause of mortality in developed countries, causing roughly 34% of deaths each year [1]
Catheter interventional surgery is a kind of minimally invasive surgical procedure which demands high accuracy of insertion velocity control and insertion force control
In mode 2, the haptic sensation was generated during the whole procedure; the catheter operation volunteer can feel variable haptic sensations based on the feedback changes of the resistance force measured in the slave site by operating the developed MR fluids actuated catheter master haptic interface
Summary
Cardiovascular diseases are the major cause of mortality in developed countries, causing roughly 34% of deaths each year [1]. The treatment of these diseases has gone from open surgery techniques to minimally invasive intervention advent with technological development. Invasive endovascular surgery is accomplished through the use of catheters and guidewire that are inserted percutaneously via the artery into target lesions. Successful surgery mainly depends on catheter navigation skills and feedback. The navigation skills include the direction of and the velocity of insertion, retraction, and rotation of the proximal end of the catheters and guidewire [3,4]. At the vessel branches where the tip of the catheter moves from the main branch (the bigger diameter) into the minor branch (the smaller diameter) skill is needed
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