Abstract
Coronary heart disease (CHD) has one of the highest contribution to global health risks. In essence, CHD’s economic burden cum the goal of achieving sustainable human health has attracted attention toward procedural innovations for better diagnosis and treatment of CHD. Despite having robotic systems paving the way towards reducing the perioperative risks faced by interventionists and patients, modeling and sensing of distal force feedback remain as an unsolved challenge. Of all sensing techniques adopted to solve this challenge, a fiber Bragg grating-based technique seems to be the most promising. In this letter, a prototype of a 3-D-printed 2-D distal force sensor is proposed for acquiring tool-vessel contact forces during robot-assisted cardiac procedures. The prototype consists of a symmetrical sensing structure designed with four optical fibers. Simulation and experimental studies were carried out to validate the applicability of the sensor. The simulation result shows that the force sensor could experience a minimal deformation under lateral forces of up to 1.0 N, whereas the in-lab temperature characterization study indicates that the sensor prototype has good linearity with increasing temperature between 35 and 54 °C. Thus, the fiber Bragg grating-based technique could enhance robot-assisted treatments of CHD.
Highlights
Cardiovascular diseases (CVDs) are the leading cause of global disease burden with distinct indicators such as the recent cases of hospitalization, intraoperative morbidity, and mortality [1]
Accruing radiation exposures and reduced ergonomics affect the interventionists’ long-term health and productivity [5]. These drawbacks inspired the quest for innocuous and improved coronary heart disease (CHD) treatment methods that are based on tool-vessel contact force acquisition and feedback
A novel isotonic 3D-printed sensing structure prototype is developed for lateral tool-vessel contact force sensing during robot-assisted cardiac interventions
Summary
Cardiovascular diseases (CVDs) are the leading cause of global disease burden with distinct indicators such as the recent cases of hospitalization, intraoperative morbidity, and mortality [1] Within this class, coronary heart disease (CHD) primarily accounts for over half of global deaths from CVDs. CHD is a chronic and systemic vascular process that emanates from fatty deposits accumulation along the innermost walls of the arteries. Accruing radiation exposures and reduced ergonomics affect the interventionists’ long-term health and productivity [5] These drawbacks inspired the quest for innocuous and improved CHD treatment methods that are based on tool-vessel contact force acquisition and feedback. Research efforts geared towards alleviating this challenge has led to the development of several electrical and optical-based miniaturized sensor prototypes for tool-vessel contact force sensing and feedback during minimally invasive cardiac procedures. Payne et al mounted two strain gauges around the distal end of a catheter to obtain tool-vessel contact force during catheterization.
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