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Guo J, Li M, Wang Y, Guo S. An Image Information-Based Objective Assessment Method of Technical Manipulation Skills for Intravascular Interventions. SENSORS (BASEL, SWITZERLAND) 2023; 23:4031. [PMID: 37112372 PMCID: PMC10144356 DOI: 10.3390/s23084031] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Figures] [Subscribe] [Scholar Register] [Received: 03/03/2023] [Revised: 04/11/2023] [Accepted: 04/13/2023] [Indexed: 06/19/2023]
Abstract
The clinical success of vascular interventional surgery relies heavily on a surgeon's catheter/guidewire manipulation skills and strategies. An objective and accurate assessment method plays a critical role in evaluating the surgeon's technical manipulation skill level. Most of the existing evaluation methods incorporate the use of information technology to find more objective assessment models based on various metrics. However, in these models, sensors are often attached to the surgeon's hands or to interventional devices for data collection, which constrains the surgeon's operational movements or exerts an influence on the motion trajectory of interventional devices. In this paper, an image information-based assessment method is proposed for the evaluation of the surgeon's manipulation skills without the requirement of attaching sensors to the surgeon or catheters/guidewires. Surgeons are allowed to use their natural bedside manipulation skills during the data collection process. Their manipulation features during different catheterization tasks are derived from the motion analysis of the catheter/guidewire in video sequences. Notably, data relating to the number of speed peaks, slope variations, and the number of collisions are included in the assessment. Furthermore, the contact forces, resulting from interactions between the catheter/guidewire and the vascular model, are sensed by a 6-DoF F/T sensor. A support vector machine (SVM) classification framework is developed to discriminate the surgeon's catheterization skill levels. The experimental results demonstrate that the proposed SVM-based assessment method can obtain an accuracy of 97.02% to distinguish between the expert and novice manipulations, which is higher than that of other existing research achievements. The proposed method has great potential to facilitate skill assessment and training of novice surgeons in vascular interventional surgery.
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Affiliation(s)
- Jin Guo
- School of Life Science, Beijing Institute of Technology, Beijing 100081, China
| | - Maoxun Li
- China Academy of Electronics and Information Technology, Beijing 100041, China
| | - Yue Wang
- School of Life Science, Beijing Institute of Technology, Beijing 100081, China
| | - Shuxiang Guo
- School of Life Science, Beijing Institute of Technology, Beijing 100081, China
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2
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Shi P, Guo S, Jin X, Hirata H, Tamiya T, Kawanishi M. A novel catheter interaction simulating method for virtual reality interventional training systems. Med Biol Eng Comput 2023; 61:685-697. [PMID: 36585560 DOI: 10.1007/s11517-022-02730-w] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 03/10/2022] [Accepted: 12/09/2022] [Indexed: 12/31/2022]
Abstract
Endovascular robotic systems have been applied in robot-assisted interventional surgery to improve surgical safety and reduce radiation to surgeons. However, this surgery requires surgeons to be highly skilled at operating vascular interventional surgical robot. Virtual reality (VR) interventional training systems for robot-assisted interventional surgical training have many advantages over traditional training methods. For virtual interventional radiology, simulation of the behaviors of surgical tools (here mainly refers to catheter and guidewire) is a challenging work. In this paper, we developed a novel virtual reality interventional training system. This system is an extension of the endovascular robotic system. Because the master side of this system can be used for both the endovascular robotic system and the VR interventional training system, the proposed system improves training and reduces the cost of education. Moreover, we proposed a novel method to solve catheterization modeling during the interventional simulation. Our method discretizes the catheter by the collision points. The catheter between two adjacent collision points is treated as thin torsion-free elastic rods. The deformation of the rod is mainly affected by the force applied at the collision points. Meanwhile, the virtual contact force is determined by the collision points. This simplification makes the model more stable and reduces the computational complexity, and the behavior of the surgical tools can be approximated. Therefore, we realized the catheter interaction simulation and virtual force feedback for the proposed VR interventional training system. The performance of our method is experimentally validated.
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Affiliation(s)
- Peng Shi
- School of Medical Technology and Engineering, Henan University of Science and Technology, Luoyang, 471023, China.,Faculty of Engineering and Design, Kagawa University, 2217-20 Hayashi-Cho, Takamatsu, 760-8521, Japan
| | - Shuxiang Guo
- Key Laboratory of Convergence Medical Engineering System and Healthcare Technology, the Ministry of Industry and Information Technology, Beijing Institute of Technology, No. 5, Zhongguancun South Street, Haidian District, Beijing, 100081, China. .,Faculty of Engineering and Design, Kagawa University, 2217-20 Hayashi-Cho, Takamatsu, 760-8521, Japan.
| | - Xiaoliang Jin
- Faculty of Engineering and Design, Kagawa University, 2217-20 Hayashi-Cho, Takamatsu, 760-8521, Japan.,State Key Laboratory of Bioelectronics and the Jiangsu Key Laboratory of Remote Measurement and Control, School of Instrument Science and Engineering, Southeast University, Nanjing, 210096, China
| | - Hideyuki Hirata
- Faculty of Engineering and Design, Kagawa University, 2217-20 Hayashi-Cho, Takamatsu, 760-8521, Japan
| | - Takashi Tamiya
- Department of Neurological Surgery, Faculty of Medicine, Kagawa University, Takamatsu, 761-0793, Japan
| | - Masahiko Kawanishi
- Department of Neurological Surgery, Faculty of Medicine, Kagawa University, Takamatsu, 761-0793, Japan
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3
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Xu Y, Mangla S, Gschneidner P, Shi Y. A multi-asperity adhesive contact model for catheter and vascular artery contact in endovascular surgery. Biomed Microdevices 2023; 25:7. [PMID: 36719507 DOI: 10.1007/s10544-023-00646-2] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Accepted: 01/09/2023] [Indexed: 02/01/2023]
Abstract
Contact behaviors of medical devices, such as guidewires and catheters, are critical in endovascular surgeries. In this work, a new method to predict adhesive contact force between catheter and vascular artery is presented. Multi-asperity adhesion on the surface of vascular artery, deformation of asperity and deformation of vascular substrate are all considered. The single asperity behavior is described with Johnson-Kendall-Roberts (JKR) contact model. The multi-asperity behavior is based on Greenwood-Williamson (GW) asperity model. Vascular substrate is considered as elastic bulk substrate and its deformation is determined with Hertzian pressure from asperity on a circular region on the elastic half space. The model shows that the deformation of vascular substrate accounts for the majority of the total contact deformation and significantly affects the predicted contact force. The model is verified with published experimental data. The comparison shows that the model produces very accurate prediction of contact force between catheter and vascular artery when the contact force is compressive. Parametric analysis based on asperity topography is carried out. The analysis shows that the diameter of the circular region of the interface between asperity and vascular substrate has more significant effect on the estimation of contact force than the radius of asperity. Further validation of prediction accuracy of the model under experiment is needed.
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Affiliation(s)
- Yang Xu
- Department of Mechanical Engineering, Stevens Institute of Technology, Hoboken, NJ, USA.
| | | | - Paul Gschneidner
- Department of Mechanical Engineering, Stevens Institute of Technology, Hoboken, NJ, USA
| | - Yong Shi
- Department of Mechanical Engineering, Stevens Institute of Technology, Hoboken, NJ, USA.
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4
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Design and evaluation of vascular interventional robot system for complex coronary artery lesions. Med Biol Eng Comput 2023; 61:1365-1380. [PMID: 36705768 DOI: 10.1007/s11517-023-02775-5] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Journal Information] [Subscribe] [Scholar Register] [Received: 09/30/2022] [Accepted: 01/05/2023] [Indexed: 01/28/2023]
Abstract
At present, most vascular intervention robots cannot cope with the more common coronary complex lesions in the clinic. Moreover, the lack of effective force feedback increases the risk of surgery. In this paper, a vascular interventional robot that can collaboratively deliver multiple interventional instruments has been developed to assist doctors in the operation of complex lesions. Based on the doctor's skills and the delivery principle of interventional instruments, the main and slave manipulators of the robot system are designed. Haptic force feedback is generated through resistance measuring mechanism and active drag system. In addition, a force feedback control strategy based on force-velocity mapping is proposed to realize the continuous change of force and avoid vibration. The proposed robot system was evaluated through a series of experiments. The experimental results show that the system can accurately measure the delivery resistance of interventional instruments, and provide haptic force feedback to doctors. The capability of the system to collaboratively deliver multiple interventional instruments is effective. Therefore, it can be considered that the robot system is feasible and effective.
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5
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Zhou W, Guo S, Guo J, Chen Z, Meng F. Kinetics Analysis and ADRC-Based Controller for a String-Driven Vascular Intervention Surgical Robotic System. MICROMACHINES 2022; 13:mi13050770. [PMID: 35630237 PMCID: PMC9145301 DOI: 10.3390/mi13050770] [Citation(s) in RCA: 1] [Impact Index Per Article: 0.5] [Reference Citation Analysis] [Abstract] [Track Full Text] [Download PDF] [Figures] [Subscribe] [Scholar Register] [Received: 04/06/2022] [Revised: 05/09/2022] [Accepted: 05/11/2022] [Indexed: 02/01/2023]
Abstract
Vascular interventional surgery is a typical method for diagnosing and treating cardio-cerebrovascular diseases. However, a surgeon is exposed to significant X-radiation exposure when the operation is conducted for a long period of time. A vascular intervention surgical robotic system for assisting the surgeon is a promising approach to address the aforementioned issue. When developing the robotic system, a high displacement accuracy is crucial, and this can aid in enhancing operating efficiency and safety. In this study, a novel kinetics analysis and active disturbance rejection control (ADRC)-based controller is proposed to provide high accuracy for a string-driven robotic system. In this controller, kinetics analysis is initially used to improve the accuracy affected by the inner factors of the slave manipulator. Then, the ADRC controller is used to further improve the operating accuracy of the robotic system. Finally, the proposed controller is evaluated by conducting experiments on a vascular model. The results indicate maximum steady errors of 0.45 mm and 6.67°. The experimental results demonstrate that the proposed controller can satisfy the safety requirements of the string-driven robotic system.
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Affiliation(s)
- Wei Zhou
- School of Life Science, Beijing Institute of Technology, Beijing 100081, China; (W.Z.); (Z.C.); (F.M.)
| | - Shuxiang Guo
- School of Life Science, Beijing Institute of Technology, Beijing 100081, China; (W.Z.); (Z.C.); (F.M.)
- Key Laboratory of Convergence Medical Engineering System and Healthcare Technology, Ministry of Industry and Information Technology, School of Life Science, Beijing Institute of Technology, Beijing 100081, China
- Correspondence: (S.G.); (J.G.); Tel.: +86-186-0020-0326 (S.G.)
| | - Jin Guo
- School of Life Science, Beijing Institute of Technology, Beijing 100081, China; (W.Z.); (Z.C.); (F.M.)
- Correspondence: (S.G.); (J.G.); Tel.: +86-186-0020-0326 (S.G.)
| | - Zhengyang Chen
- School of Life Science, Beijing Institute of Technology, Beijing 100081, China; (W.Z.); (Z.C.); (F.M.)
| | - Fanxu Meng
- School of Life Science, Beijing Institute of Technology, Beijing 100081, China; (W.Z.); (Z.C.); (F.M.)
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6
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Zhao Y, Mei Z, Luo X, Mao J, Zhao Q, Liu G, Wu D. Remote vascular interventional surgery robotics: a literature review. Quant Imaging Med Surg 2022; 12:2552-2574. [PMID: 35371939 PMCID: PMC8923856 DOI: 10.21037/qims-21-792] [Citation(s) in RCA: 10] [Impact Index Per Article: 5.0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 08/09/2021] [Accepted: 12/22/2021] [Indexed: 07/25/2023]
Abstract
Vascular interventional doctors are exposed to radiation hazards during surgery and endure high work intensity. Remote vascular interventional surgery robotics is a hot research field, in which researchers aim to not only protect the health of interventional doctors, but to also improve surgical accuracy and efficiency. However, the current vascular interventional robots have numerous shortcomings, such as poor haptic feedback, few compatible surgeries and instruments, and cumbersome maintenance and operational procedures. Nevertheless, vascular interventional surgery combined with robotics provides more cutting-edge directions, such as Internet remote surgery combined with 5G network technology and the application of artificial intelligence in surgical procedures. To summarize the developmental status and key technical points of intravascular interventional surgical robotics research, we performed a systematic literature search to retrieve original articles related to remote vascular interventional surgery robotics published up to December 2020. This review, which includes 113 articles published in English, introduces the mechanical and structural characteristics of various aspects of vascular interventional surgical robotics, discusses the current key features of vascular interventional surgical robotics in force sensing, haptic feedback, and control methods, and summarizes current frontiers in autonomous surgery, long-distance robotic telesurgery, and magnetic resonance imaging (MRI)-compatible structures. On the basis of summarizing the current research status of remote vascular interventional surgery robotics, we aim to propose a variety of prospects for future robotic systems.
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Affiliation(s)
- Yang Zhao
- Department of Mechanical & Electrical Engineering, Xiamen University, Xiamen, China
| | - Ziyang Mei
- Department of Mechanical & Electrical Engineering, Xiamen University, Xiamen, China
| | - Xiaoxiao Luo
- Department of Mechanical & Electrical Engineering, Xiamen University, Xiamen, China
| | - Jingsong Mao
- Department of Radiology, Xiang’an Hospital of Xiamen University, Xiamen, China
| | - Qingliang Zhao
- State Key Laboratory of Molecular Vaccinology and Molecular Diagnostics Center for Molecular Imaging and Translational Medicine, School of Public Health, Xiamen University, Xiamen, China
| | - Gang Liu
- State Key Laboratory of Molecular Vaccinology and Molecular Diagnostics Center for Molecular Imaging and Translational Medicine, School of Public Health, Xiamen University, Xiamen, China
| | - Dezhi Wu
- Department of Mechanical & Electrical Engineering, Xiamen University, Xiamen, China
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7
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Bravo J, Wali AR, Hirshman BR, Gopesh T, Steinberg JA, Yan B, Pannell JS, Norbash A, Friend J, Khalessi AA, Santiago-Dieppa D. Robotics and Artificial Intelligence in Endovascular Neurosurgery. Cureus 2022; 14:e23662. [PMID: 35371874 PMCID: PMC8971092 DOI: 10.7759/cureus.23662] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Accepted: 03/30/2022] [Indexed: 11/05/2022] Open
Abstract
The use of artificial intelligence (AI) and robotics in endovascular neurosurgery promises to transform neurovascular care. We present a review of the recently published neurosurgical literature on artificial intelligence and robotics in endovascular neurosurgery to provide insights into the current advances and applications of this technology. The PubMed database was searched for "neurosurgery" OR "endovascular" OR "interventional" AND "robotics" OR "artificial intelligence" between January 2016 and August 2021. A total of 1296 articles were identified, and after applying the inclusion and exclusion criteria, 38 manuscripts were selected for review and analysis. These manuscripts were divided into four categories: 1) robotics and AI for the diagnosis of cerebrovascular pathology, 2) robotics and AI for the treatment of cerebrovascular pathology, 3) robotics and AI for training in neuroendovascular procedures, and 4) robotics and AI for clinical outcome optimization. The 38 articles presented include 23 articles on AI-based diagnosis of cerebrovascular disease, 10 articles on AI-based treatment of cerebrovascular disease, two articles on AI-based training techniques for neuroendovascular procedures, and three articles reporting AI prediction models of clinical outcomes in vascular disorders of the brain. Innovation with robotics and AI focus on diagnostic efficiency, optimizing treatment and interventional procedures, improving physician procedural performance, and predicting clinical outcomes with the use of artificial intelligence and robotics. Experimental studies with robotic systems have demonstrated safety and efficacy in treating cerebrovascular disorders, and novel microcatheterization techniques may permit access to deeper brain regions. Other studies show that pre-procedural simulations increase overall physician performance. Artificial intelligence also shows superiority over existing statistical tools in predicting clinical outcomes. The recent advances and current usage of robotics and AI in the endovascular neurosurgery field suggest that the collaboration between physicians and machines has a bright future for the improvement of patient care. The aim of this work is to equip the medical readership, in particular the neurosurgical specialty, with tools to better understand and apply findings from research on artificial intelligence and robotics in endovascular neurosurgery.
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8
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Lu Q, Sun Z, Zhang J, Zhang J, Zheng J, Qian F. A Novel Remote-Controlled Vascular Interventional Robotic System Based on Hollow Ultrasonic Motor. MICROMACHINES 2022; 13:mi13030410. [PMID: 35334702 PMCID: PMC8954608 DOI: 10.3390/mi13030410] [Citation(s) in RCA: 2] [Impact Index Per Article: 1.0] [Reference Citation Analysis] [Abstract] [Track Full Text] [Download PDF] [Figures] [Subscribe] [Scholar Register] [Received: 02/19/2022] [Revised: 02/27/2022] [Accepted: 03/01/2022] [Indexed: 11/16/2022]
Abstract
Cardiovascular diseases (CVDs) are the deadliest diseases worldwide. Master-slave robotic systems have been widely used in vascular interventional surgery with the benefit of high safety, efficient operation, and procedural facilitation. This paper introduces a remote-controlled vascular interventional robot (RVIR) that aims to enable surgeons to perform complex vascular interventions reliably and accurately under a magnetic resonance imaging (MRI) environment. The slave robot includes a guidewire manipulator (GM) and catheter manipulator (CM) that are mainly composed of a hollow driving mechanism and a linear motion platform. The hollow driving mechanism is based on a traveling wave-type hollow ultrasonic motor (HUM) which has high positional precision, fast response, and magnetic interference resistance and realizes the cooperation of the guidewire and catheter by omitting the redundant transmission mechanism and maintaining good coaxiality. The HUM stator, the core part of the RVIR, is optimized by an adaptive genetic algorithm for better quality and greater amplitude of traveling waves, which are beneficial to the drive efficiency and precision. The robot system features great cooperating performance, small hysteresis, and high kinematic accuracy and has been experimentally verified for its capability to precisely manipulate the guidewire and catheter.
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9
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Ren D, Li J, Zhou B, Guo S, Guo B. Modelling of the Dynamics of Vascular Embolization by Using Porous Media for the Design of Injection Robots of Embolic Agents. Med Eng Phys 2022; 101:103774. [DOI: 10.1016/j.medengphy.2022.103774] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 01/19/2021] [Revised: 11/21/2021] [Accepted: 02/09/2022] [Indexed: 11/28/2022]
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10
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Yang C, Guo S, Bao X. An Isomorphic Interactive Device for the Interventional Surgical Robot after In Vivo Study. MICROMACHINES 2022; 13:mi13010111. [PMID: 35056276 PMCID: PMC8778927 DOI: 10.3390/mi13010111] [Citation(s) in RCA: 7] [Impact Index Per Article: 3.5] [Reference Citation Analysis] [Abstract] [Track Full Text] [Download PDF] [Figures] [Subscribe] [Scholar Register] [Received: 12/14/2021] [Revised: 01/04/2022] [Accepted: 01/10/2022] [Indexed: 02/04/2023]
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.
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Affiliation(s)
- Cheng Yang
- School of Automation, Beijing Institute of Technology, Beijing 100081, China;
- Key Laboratory of Convergence Biomedical Engineering System and Healthcare Technology, The Ministry of Industry and Information Technology, Beijing Institute of Technology, Beijing 100081, China
| | - Shuxiang Guo
- School of Automation, Beijing Institute of Technology, Beijing 100081, China;
- Key Laboratory of Convergence Biomedical Engineering System and Healthcare Technology, The Ministry of Industry and Information Technology, Beijing Institute of Technology, Beijing 100081, China
- Faculty of Engineering, Kagawa University, 2217-20 Hayashi-cho, Takamatsu 760-8521, Japan
- Correspondence: (S.G.); (X.B.)
| | - Xianqiang Bao
- Key Laboratory of Convergence Biomedical Engineering System and Healthcare Technology, The Ministry of Industry and Information Technology, Beijing Institute of Technology, Beijing 100081, China
- Correspondence: (S.G.); (X.B.)
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11
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Multilevel Operation Strategy of a Vascular Interventional Robot System for Surgical Safety in Teleoperation. IEEE T ROBOT 2022. [DOI: 10.1109/tro.2022.3140887] [Citation(s) in RCA: 6] [Impact Index Per Article: 3.0] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/06/2022]
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Zhou W, Guo S, Guo J, Meng F, Chen Z. ADRC-Based Control Method for the Vascular Intervention Master-Slave Surgical Robotic System. MICROMACHINES 2021; 12:mi12121439. [PMID: 34945289 PMCID: PMC8707856 DOI: 10.3390/mi12121439] [Citation(s) in RCA: 8] [Impact Index Per Article: 2.7] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Download PDF] [Figures] [Subscribe] [Scholar Register] [Received: 11/04/2021] [Revised: 11/20/2021] [Accepted: 11/23/2021] [Indexed: 12/25/2022]
Abstract
In vascular interventional surgery, surgeons operate guidewires and catheters to diagnose and treat patients with the assistance of the digital subtraction angiography (DSA). Therefore, the surgeon will be exposed to X-rays for extended periods. To protect the surgeon, the development of a robot-assisted surgical system is of great significance. The displacement tracking accuracy is the most important issue to be considered in the development of the system. In this study, the active disturbance rejection control (ADRC) method is applied to guarantee displacement tracking accuracy. First, the core contents of the proportional–integral–derivative (PID) and ADRC methods are analyzed. Second, comparative evaluation experiments for incremental PID and ADRC methods are presented. The results show that the ADRC method has better performance of than that of the incremental PID method. Finally, the calibration experiments for the ADRC control method are implemented using the master–slave robotic system. These experiments demonstrate that the maximum tracking error is 0.87 mm using the ADRC method, effectively guaranteeing surgical safety.
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Affiliation(s)
- Wei Zhou
- School of Life Science, Beijing Institute of Technology, Beijing 100081, China; (W.Z.); (F.M.); (Z.C.)
| | - Shuxiang Guo
- School of Life Science, Beijing Institute of Technology, Beijing 100081, China; (W.Z.); (F.M.); (Z.C.)
- Key Laboratory of Convergence Medical Engineering System and Healthcare Technology, Ministry of Industry and Information Technology, School of Life Science, Beijing Institute of Technology, Beijing 100081, China
- Faculty of Engineering, Kagawa University, 2217-20 Hayashi-cho, Takamatsu 760-8521, Japan
- Correspondence: (S.G.); (J.G.); Tel.: +86-186-0020-0326 (S.G.)
| | - Jin Guo
- School of Life Science, Beijing Institute of Technology, Beijing 100081, China; (W.Z.); (F.M.); (Z.C.)
- Correspondence: (S.G.); (J.G.); Tel.: +86-186-0020-0326 (S.G.)
| | - Fanxu Meng
- School of Life Science, Beijing Institute of Technology, Beijing 100081, China; (W.Z.); (F.M.); (Z.C.)
| | - Zhengyang Chen
- School of Life Science, Beijing Institute of Technology, Beijing 100081, China; (W.Z.); (F.M.); (Z.C.)
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Collins GC, Sarma A, Bercu ZL, Desai JP, Lindsey BD. A Robotically Steerable Guidewire With Forward-Viewing Ultrasound: Development of Technology for Minimally-Invasive Imaging. IEEE Trans Biomed Eng 2021; 68:2222-2232. [PMID: 33264091 PMCID: PMC8279262 DOI: 10.1109/tbme.2020.3042115] [Citation(s) in RCA: 3] [Impact Index Per Article: 1.0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Grants] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 12/14/2022]
Abstract
OBJECTIVE The current standard of care for peripheral chronic total occlusions involves the manual routing of a guidewire under fluoroscopy. Despite significant improvements in recent decades, navigation remains clinically challenging with high rates of procedural failure and iatrogenic injury. To address this challenge, we present a proof-of-concept robotic guidewire system with forward-viewing ultrasound imaging to allow visualization and maneuverability through complex vasculature. METHODS A 0.035" guidewire-specific ultrasound transducer with matching layer and acoustic backing was designed, fabricated, and characterized. The effect of guidewire motion on signal decorrelation was assessed with simulations and experimentally, driving the development of a synthetic aperture beamforming approach to form images as the transducer is steered on the robotic guidewire. System performance was evaluated by imaging wire targets in water. Finally, proof-of-concept was demonstrated by imaging an ex vivo artery. RESULTS The designed custom transducer was fabricated with a center frequency of 15.7 MHz, 45.4% fractional bandwidth, and 31 dB SNR. In imaging 20 μm wire targets at a depth of 6 mm, the lateral -6 dB target width was 0.25 ± 0.03 mm. The 3D artery reconstruction allowed visualization of vessel wall structure and lumen. CONCLUSION Initial proof-of-concept for an ultrasound transducer-tipped steerable guidewire including 3D image formation without an additional sensor to determine guidewire position was demonstrated for a sub-mm system with an integrated ultrasound transducer and a robotically-steered guidewire. SIGNIFICANCE The developed forward-viewing, robotically-steered guidewire may enable navigation through occluded vascular regions that cannot be crossed with current methods.
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14
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Zhang L, Gu S, Guo S, Tamiya T. A Magnetorheological Fluids-Based Robot-Assisted Catheter/Guidewire Surgery System for Endovascular Catheterization. MICROMACHINES 2021; 12:mi12060640. [PMID: 34070909 PMCID: PMC8226888 DOI: 10.3390/mi12060640] [Citation(s) in RCA: 9] [Impact Index Per Article: 3.0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Download PDF] [Figures] [Subscribe] [Scholar Register] [Received: 04/27/2021] [Revised: 05/26/2021] [Accepted: 05/28/2021] [Indexed: 11/26/2022]
Abstract
A teleoperated robotic catheter operating system is a solution to avoid occupational hazards caused by repeated exposure radiation of the surgeon to X-ray during the endovascular procedures. However, inadequate force feedback and collision detection while teleoperating surgical tools elevate the risk of endovascular procedures. Moreover, surgeons cannot control the force of the catheter/guidewire within a proper range, and thus the risk of blood vessel damage will increase. In this paper, a magnetorheological fluid (MR)-based robot-assisted catheter/guidewire surgery system has been developed, which uses the surgeon’s natural manipulation skills acquired through experience and uses haptic cues to generate collision detection to ensure surgical safety. We present tests for the performance evaluation regarding the teleoperation, the force measurement, and the collision detection with haptic cues. Results show that the system can track the desired position of the surgical tool and detect the relevant force event at the catheter. In addition, this method can more readily enable surgeons to distinguish whether the proximal force exceeds or meets the safety threshold of blood vessels.
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Affiliation(s)
- Linshuai Zhang
- School of Control Engineering, Chengdu University of Information Technology, Chengdu 610225, China;
| | - Shuoxin Gu
- School of Control Engineering, Chengdu University of Information Technology, Chengdu 610225, China;
- Correspondence: (S.G.); (S.G.); Tel.: +86-180-8684-8801 (Shuoxin Gu)
| | - Shuxiang Guo
- Faculty of Engineering and Design, Kagawa University, Takamatsu 761-0396, Japan
- Key Laboratory of Convergence Medical Engineering System and Healthcare Technology, the Ministry of Industry Information Technology, School of Life Science, Beijing Institute of Technology, Beijing 100081, China
- Correspondence: (S.G.); (S.G.); Tel.: +86-180-8684-8801 (Shuoxin Gu)
| | - Takashi Tamiya
- Department of Neurological Surgery, Faculty of Medicine, Kagawa University, Takamatsu 761-0396, Japan;
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15
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Animal Experiment of a Novel Neurointerventional Surgical Robotic System with Master-Slave Mode. Appl Bionics Biomech 2021; 2021:8836268. [PMID: 33574888 PMCID: PMC7864736 DOI: 10.1155/2021/8836268] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 09/14/2020] [Revised: 11/29/2020] [Accepted: 01/20/2021] [Indexed: 11/18/2022] Open
Abstract
In order to inspect and improve the system performance of the neuro-interventional surgical robot and its effectiveness and safety in clinical applications, we conducted ten animal experiments using this robotic system. Cerebral angiography was performed on ten experimental animals, and various mechanical performance indicators, operating time, X-ray radiation dosage to the experimental animals and the experimenter, and arterial damage in the experimental animals were recorded when the robotic system completed cerebral angiography. The results show that the robotic system can successfully complete the cerebral angiography surgery, and the mechanical performance is up to standard. The operating time is almost the same as the physician's operating time. And the mean X-ray radiation dosage received by the experimental animals and experimenter was 0.893 Gy and 0.0859 mSv, respectively. There were no complications associated with damage to the vascular endothelium. The robotic system can basically complete the relevant assessment indicators, and its system performance, effectiveness, and safety in clinical applications meet the standards, basically meeting the requirements of clinical applications of neurointerventional surgery.
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Hu Z, Zhang J, Xie L, Cui G. A generalized predictive control for remote cardiovascular surgical systems. ISA TRANSACTIONS 2020; 104:336-344. [PMID: 32444216 DOI: 10.1016/j.isatra.2020.05.020] [Citation(s) in RCA: 2] [Impact Index Per Article: 0.5] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Subscribe] [Scholar Register] [Received: 11/16/2019] [Revised: 04/15/2020] [Accepted: 05/09/2020] [Indexed: 06/11/2023]
Abstract
Robot-assisted cardiovascular surgery is used to avoid surgeon suffering from X-ray radiation and relieve fatigue caused by long-time standing wearing protective clothing. Its remote surgery can alleviate the lack of experienced doctors in remote areas. Due to the existence of time-delay phenomena, flexible deformation and nonlinearity of interventional instruments, it is difficult to ensure system transparency. This paper analyzes the evaluation index of system transparency. A generalized predictive control (GPC) is developed to suppress the effect of time-varying delay and parameter identification error. Moreover, a terminal sliding mode controller (SMC) is designed to improve the robustness of the system under consideration. Simulation results are provided to show that the proposed control strategy can improve transparency of the remote vascular interventional surgery system.
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Affiliation(s)
- Zhi Hu
- Laboratory of Intelligent Control and Robotics, Shanghai University of Engineering Science, Shanghai, China; School of Instrument Science and Engineering, Southeast University, Nanjing, China.
| | - Junfeng Zhang
- Laboratory of Intelligent Control and Robotics, Shanghai University of Engineering Science, Shanghai, China.
| | - Le Xie
- Institute of Forming Technology & Equipment and School of Biomedical Engineering, Shanghai Jiao Tong University, Shanghai, China.
| | - Guohua Cui
- Intelligent Robotics Research Center, Shanghai University of Engineering Science, Shanghai, China.
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Zhou J, Mei Z, Miao J, Mao J, Wang L, Wu D, Sun D, Zhao Y. A Remote-Controlled Robotic System with Safety Protection Strategy Based on Force-Sensing and Bending Feedback for Transcatheter Arterial Chemoembolization. MICROMACHINES 2020; 11:mi11090805. [PMID: 32854264 PMCID: PMC7569875 DOI: 10.3390/mi11090805] [Citation(s) in RCA: 7] [Impact Index Per Article: 1.8] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Download PDF] [Figures] [Subscribe] [Scholar Register] [Received: 07/24/2020] [Revised: 08/17/2020] [Accepted: 08/21/2020] [Indexed: 01/04/2023]
Abstract
Transcatheter arterial chemoembolization (TACE) is the common choice of non-open surgery for hepatocellular carcinoma (HCC) now. In this study, a simple TACE robotic system of 4-degree-of-freedom is proposed to get higher accuracy and stability of the surgery operation and reduce X-ray exposure time of the surgeons. The master-slave control strategy is adopted in the robotic system and a customized sigmoid function is designed to optimize the joystick control of the master-slave robotic control system. A force-sensing module is developed to sense the resistance of the guide wire in linear delivery motion and an auxiliary bending feedback method based on constraint pipe with a film sensor is proposed. With two force-sensing methods, the safety strategy of robotic motion with 9 different motion constraint coefficients is given and a human-computer interface is developed. The TACE robot would monitor the value of the force sensor and the analog voltage of the film sensor to adopt the corresponding motion constraint coefficient in every 10 ms. Vascular model experiments were performed to validate the robotic system, and the results showed that the safety strategy could improve the reliability of the operation with immediate speed constraint and avoid potential aggressive delivery.
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Affiliation(s)
- Junqiang Zhou
- Department of Mechanical and Electrical Engineering, Xiamen University, Xiamen 361102, China
| | - Ziyang Mei
- Department of Mechanical and Electrical Engineering, Xiamen University, Xiamen 361102, China
| | - Jia Miao
- Department of Mechanical and Electrical Engineering, Xiamen University, Xiamen 361102, China
| | - Jingsong Mao
- Department of Radiology, Xiang'an Hospital of Xiamen University, Xiamen 361102, China
| | - Lingyun Wang
- Department of Mechanical and Electrical Engineering, Xiamen University, Xiamen 361102, China
| | - Dezhi Wu
- Department of Mechanical and Electrical Engineering, Xiamen University, Xiamen 361102, China
| | - Daoheng Sun
- Department of Mechanical and Electrical Engineering, Xiamen University, Xiamen 361102, China
| | - Yang Zhao
- Department of Mechanical and Electrical Engineering, Xiamen University, Xiamen 361102, China
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Yang C, Guo S, Bao X, Xiao N, Shi L, Li Y, Jiang Y. A vascular interventional surgical robot based on surgeon's operating skills. Med Biol Eng Comput 2019; 57:1999-2010. [PMID: 31346947 DOI: 10.1007/s11517-019-02016-8] [Citation(s) in RCA: 39] [Impact Index Per Article: 7.8] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 12/20/2018] [Accepted: 07/15/2019] [Indexed: 12/22/2022]
Abstract
Interventional surgery is widely used in the treatment of cardiovascular and cerebrovascular diseases, and the development of surgical robots can greatly reduce the fatigue and radiation risks brought to surgeons during surgery. In this paper, we present a novel interventional surgical robot which allows surgeons to fully use their operating skills during remote control. Fuzzy control theory is used to guarantee control precision during the master-slave operation. The safety force feedback control is designed based on the catheter and guidewire spring model, and the force-position control is designed to decrease the potential damage due to the control delay. This study first evaluates the force-position control strategy using a vascular model experiment, and then an in vivo experiment is used to evaluate the precision of the surgical robot controlling the catheter and guidewire to the designated position. The in vivo experiment results and surgeon's feedback demonstrate that the proposed surgical robot is able to perform complex remote surgery in clinical application. Graphical abstract Surgeons perform remote interventional animal surgery using interventional surgical robots.
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Affiliation(s)
- Cheng Yang
- Key Laboratory of Convergence Biomedical Engineering System and Healthcare Technology, The Ministry of Industry and Information Technology, School of Automation, Beijing Institute of Technology, No.5, Zhongguancun South Street, Haidian District, Beijing, 100081, China
| | - Shuxiang Guo
- Key Laboratory of Convergence Biomedical Engineering System and Healthcare Technology, The Ministry of Industry and Information Technology, School of Automation, Beijing Institute of Technology, No.5, Zhongguancun South Street, Haidian District, Beijing, 100081, China. .,Faculty of Engineering, Kagawa University, 2217-20 Hayashi-cho, Takamatsu, Kagawa, 760-8521, Japan.
| | - Xianqiang Bao
- Key Laboratory of Convergence Biomedical Engineering System and Healthcare Technology, The Ministry of Industry and Information Technology, School of Automation, Beijing Institute of Technology, No.5, Zhongguancun South Street, Haidian District, Beijing, 100081, China
| | - Nan Xiao
- Key Laboratory of Convergence Biomedical Engineering System and Healthcare Technology, The Ministry of Industry and Information Technology, School of Automation, Beijing Institute of Technology, No.5, Zhongguancun South Street, Haidian District, Beijing, 100081, China.
| | - Liwei Shi
- Key Laboratory of Convergence Biomedical Engineering System and Healthcare Technology, The Ministry of Industry and Information Technology, School of Automation, Beijing Institute of Technology, No.5, Zhongguancun South Street, Haidian District, Beijing, 100081, China
| | - Youxiang Li
- Department of Interventional Neuroradiology, Beijing Neurosurgical Institute and Beijing Tiantan Hospital, Capital Medical University, Beijing, 100050, China
| | - Yuhua Jiang
- Department of Interventional Neuroradiology, Beijing Neurosurgical Institute and Beijing Tiantan Hospital, Capital Medical University, Beijing, 100050, China
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A CNN-based prototype method of unstructured surgical state perception and navigation for an endovascular surgery robot. Med Biol Eng Comput 2019; 57:1875-1887. [DOI: 10.1007/s11517-019-02002-0] [Citation(s) in RCA: 14] [Impact Index Per Article: 2.8] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 09/13/2018] [Accepted: 06/05/2019] [Indexed: 01/12/2023]
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20
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Guo S, Song Y, Yin X, Zhang L, Tamiya T, Hirata H, Ishihara H. A Novel Robot-Assisted Endovascular Catheterization System With Haptic Force Feedback. IEEE T ROBOT 2019. [DOI: 10.1109/tro.2019.2896763] [Citation(s) in RCA: 69] [Impact Index Per Article: 13.8] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/08/2022]
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21
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Magnetorheological Fluids Actuated Haptic-Based Teleoperated Catheter Operating System. MICROMACHINES 2018; 9:mi9090465. [PMID: 30424398 PMCID: PMC6187467 DOI: 10.3390/mi9090465] [Citation(s) in RCA: 31] [Impact Index Per Article: 5.2] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Download PDF] [Figures] [Subscribe] [Scholar Register] [Received: 07/09/2018] [Revised: 09/06/2018] [Accepted: 09/07/2018] [Indexed: 11/17/2022]
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.
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Bao X, Guo S, Xiao N, Li Y, Shi L. Compensatory force measurement and multimodal force feedback for remote-controlled vascular interventional robot. Biomed Microdevices 2018; 20:74. [PMID: 30116968 DOI: 10.1007/s10544-018-0318-0] [Citation(s) in RCA: 57] [Impact Index Per Article: 9.5] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/29/2022]
Abstract
Minimally invasive vascular interventional surgery is widely used and remote-controlled vascular interventional surgery robots (RVIRs) are being developed to reduce the occupational risk of the intervening physician in minimally invasive vascular interventional surgeries. Skilled surgeon performs surgeries mainly depending on the detection of collisions. Inaccurate force feedback will be difficult for surgeons to perform surgeries or even results in medical accidents. In addition, the surgeon cannot quickly and easily distinguish whether the proximal force exceeds the safety threshold of blood vessels or not, and thus it results in damage to the blood vessels. In this paper, we present a novel method comprising compensatory force measurement and multimodal force feedback (MFF). Calibration experiments and performance evaluation experiments were carried out. Experimental results demonstrated that the proposed method can measure the proximal force of catheter/guidewire accurately and assist surgeons to distinguish the change of proximal force more easily. This novel method is suitable for use in actual surgical operations.
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Affiliation(s)
- Xianqiang Bao
- Key Laboratory of Convergence Medical Engineering System and Healthcare Technology, Ministry of Industry and Information Technology, Beijing Institute of Technology, Beijing, 100081, China
| | - Shuxiang Guo
- Key Laboratory of Convergence Medical Engineering System and Healthcare Technology, Ministry of Industry and Information Technology, Beijing Institute of Technology, Beijing, 100081, China. .,Intelligent Mechanical Systems Engineering Department, Kagawa University, Takamatsu, 761-0396, Japan.
| | - Nan Xiao
- Key Laboratory of Convergence Medical Engineering System and Healthcare Technology, Ministry of Industry and Information Technology, Beijing Institute of Technology, Beijing, 100081, China.
| | - Youxiang Li
- Department of Interventional Neuroradiology, Beijing Engineering Technology Research Center for Interventional Neuroradiology, and Beijing Neurosurgical Institute, Beijing Tiantan Hospital, Capital Medical University, Beijing, 10050, China
| | - Liwei Shi
- Key Laboratory of Convergence Medical Engineering System and Healthcare Technology, Ministry of Industry and Information Technology, Beijing Institute of Technology, Beijing, 100081, China.
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23
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Zhang C, Guo S, Xiao N, Wu J, Li Y, Jiang Y. Transverse microvibrations-based guide wires drag reduction evaluation for endovascular interventional application. Biomed Microdevices 2018; 20:69. [PMID: 30094504 DOI: 10.1007/s10544-018-0315-3] [Citation(s) in RCA: 4] [Impact Index Per Article: 0.7] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 10/28/2022]
Abstract
When conducting endovascular interventional surgery, doctors usually experience high viscous resistance resulting from direct contact with blood when operating the guide wire in blood vessels, which reduces the operational efficiency. Improper operation can cause vascular injuries and greatly reduce surgical safety, sometimes leading to the death of the patient. This paper presents a new method that applies transverse microvibrations at the proximal end of a conventional passive guide wire to reduce viscous resistance. The effect of the proposed method in reducing the viscous resistance in the fluid is studied. The influences of the tube diameter, medium density, and applied vibration frequency on the viscous force are investigated. Finally, for endovascular therapy, a mathematical model of the viscous force of the guide wire based on the proposed method is established in the environment of human blood vessels to predict the magnitude of the viscous force exerted on the guide wire and analyze the drag reduction effect of the proposed method. The effectiveness of the proposed method in drag reduction and its feasibility in improving surgical safety are experimentally demonstrated. The experimental results indicate that the proposed method can assist the doctor during complicated and variable operation conditions.
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Affiliation(s)
- Chaonan Zhang
- Key Laboratory of Convergence Medical Engineering System and Healthcare Technology, Ministry of Industry and Information Technology, Beijing Institute of Technology, Beijing, 100081, China
| | - Shuxiang Guo
- Key Laboratory of Convergence Medical Engineering System and Healthcare Technology, Ministry of Industry and Information Technology, Beijing Institute of Technology, Beijing, 100081, China. .,Intelligent Mechanical Systems Engineering Department, Kagawa University, Takamatsu, 761-0396, Japan.
| | - Nan Xiao
- Key Laboratory of Convergence Medical Engineering System and Healthcare Technology, Ministry of Industry and Information Technology, Beijing Institute of Technology, Beijing, 100081, China.
| | - Jiaqing Wu
- Key Laboratory of Convergence Medical Engineering System and Healthcare Technology, Ministry of Industry and Information Technology, Beijing Institute of Technology, Beijing, 100081, China
| | - Youxiang Li
- Department of Interventional Neuroradiology, Beijing Engineering Technology Research Center for Interventional Neuroradiology, and Beijing Neurosurgical Institute, Beijing Tiantan Hospital, Capital Medical University, Beijing, 10050, China
| | - Yuhua Jiang
- Department of Interventional Neuroradiology, Beijing Engineering Technology Research Center for Interventional Neuroradiology, and Beijing Neurosurgical Institute, Beijing Tiantan Hospital, Capital Medical University, Beijing, 10050, China
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24
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Song Y, Guo S, Yin X, Zhang L, Hirata H, Ishihara H, Tamiya T. Performance evaluation of a robot-assisted catheter operating system with haptic feedback. Biomed Microdevices 2018; 20:50. [PMID: 29926195 DOI: 10.1007/s10544-018-0294-4] [Citation(s) in RCA: 12] [Impact Index Per Article: 2.0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 10/28/2022]
Abstract
In this paper, a novel robot-assisted catheter operating system (RCOS) has been proposed as a method to reduce physical stress and X-ray exposure time to physicians during endovascular procedures. The unique design of this system allows the physician to apply conventional bedside catheterization skills (advance, retreat and rotate) to an input catheter, which is placed at the master side to control another patient catheter placed at the slave side. For this purpose, a magnetorheological (MR) fluids-based master haptic interface has been developed to measure the axial and radial motions of an input catheter, as well as to provide the haptic feedback to the physician during the operation. In order to achieve a quick response of the haptic force in the master haptic interface, a hall sensor-based closed-loop control strategy is employed. In slave side, a catheter manipulator is presented to deliver the patient catheter, according to position commands received from the master haptic interface. The contact forces between the patient catheter and blood vessel system can be measured by designed force sensor unit of catheter manipulator. Four levels of haptic force are provided to make the operator aware of the resistance encountered by the patient catheter during the insertion procedure. The catheter manipulator was evaluated for precision positioning. The time lag from the sensed motion to replicated motion is tested. To verify the efficacy of the proposed haptic feedback method, the evaluation experiments in vitro are carried out. The results demonstrate that the proposed system has the ability to enable decreasing the contact forces between the catheter and vasculature.
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Affiliation(s)
- Yu Song
- Graduate School of Engineering, Kagawa University, 2217-20 Hayashi-cho, Takamatsu, Kagawa, 760-8521, Japan
| | - Shuxiang Guo
- Key Laboratory of Convergence Medical Engineering System and Healthcare Technology, the Ministry of Industry and Information Technology, Beijing Institute of Technology, No. 5, Zhongguancun South Street, Haidian District, Beijing, 100081, China. .,Faculty of Engineering, Kagawa University, 2217-20 Hayashi-cho, Takamatsu, Kagawa, 760-8521, Japan.
| | - Xuanchun Yin
- College of Engineering, South China Agricultural University, Guangzhou, China
| | - Linshuai Zhang
- Graduate School of Engineering, Kagawa University, 2217-20 Hayashi-cho, Takamatsu, Kagawa, 760-8521, Japan
| | - Hideyuki Hirata
- Faculty of Engineering, Kagawa University, 2217-20 Hayashi-cho, Takamatsu, Kagawa, 760-8521, Japan
| | - Hidenori Ishihara
- Faculty of Engineering, Kagawa University, 2217-20 Hayashi-cho, Takamatsu, Kagawa, 760-8521, Japan
| | - Takashi Tamiya
- Department of Neurological Surgery Faculty of Medicine, Kagawa University, Takamatsu, 761-0396, Japan
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25
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Abstract
Remote-controlled vascular interventional robots (RVIRs) are being developed to increase the accuracy of surgical operations and reduce the number of occupational risks sustained by intervening physicians, such as radiation exposure and chronic neck/back pain. However, complex control of the RVIRs improves the doctor's operation difficulty and reduces the operation efficiency. Furthermore, incomplete sterilization of the RVIRs will increase the risk of infection, or even cause medical accidents. In this study, we introduced a novel method that provides higher operation efficiency than a previous prototype and allows for complete robot sterilization. A prototype was fabricated and validated through laboratory setting experiments and an in-human experiment. The results illustrated that the proposed RVIR has better performance compared with the previous prototype, and preliminarily demonstrated that the proposed RVIR has good safety and reliability and can be used in clinical surgeries.
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