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Kim DK, Woo J, Yi BJ, Song HS, Kim GM, Kwon JH, Han K, Won JY. Robot-Assisted Transarterial Chemoembolization of Hepatocellular Carcinoma Using a Coaxial Microcatheter Driving Controller-Responder Robot System: Clinical Pilot Study. J Vasc Interv Radiol 2023; 34:1565-1574. [PMID: 37302472 DOI: 10.1016/j.jvir.2023.06.004] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [MESH Headings] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 03/23/2023] [Revised: 05/26/2023] [Accepted: 06/02/2023] [Indexed: 06/13/2023] Open
Abstract
PURPOSE To evaluate the feasibility and safety of robot-assisted transarterial chemoembolization (TACE) for hepatocellular carcinoma (HCC) using a new coaxial microcatheter driving controller-responder robot (CRR) system. MATERIALS AND METHODS A single-center prospective pilot study approved by the institutional review board was conducted using this CRR developed after analyzing 20 cases of conventional TACE procedures from May to October 2021. The study included 10 patients with HCCs: 5 (median age, 72 years; range, 64-73 years) underwent robot-assisted TACE, and 5 (median age, 57 years; range, 44-76 years) underwent conventional TACE for comparison. The feasibility and safety of robot-assisted TACE were evaluated by assessing the technical success, procedure time, adverse event rate, radiation dose, and early tumor response. RESULTS The entire TACE procedure was divided into 30 steps, of which 8 could be robotized. In robot-assisted TACE, technical success was achieved in 4 (80%) of 5 patients. No procedure-related adverse event was observed. The median procedure time was 56 minutes. At the 1-month follow-up, 3 of the 4 patients showed a complete or partial response after robot-assisted TACE. The median radiation doses for the operator and patients were 0.4 and 2,167.5 μSv in robot-assisted TACE and 53.2 and 2,989.7 μSv in conventional TACE, respectively. CONCLUSIONS Robot-assisted TACE using a new CRR system was feasible and safe for the treatment of HCC and could remarkably decrease radiation exposure for the operators.
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Affiliation(s)
- Dong Kyu Kim
- Department of Radiology, Severance Hospital, Research Institute of Radiological Science, Yonsei University College of Medicine, Seoul, Republic of Korea
| | - Jaehong Woo
- Department of Robotics and Convergence, Hanyang University, Ansan, Republic of Korea
| | - Byung-Ju Yi
- Department of Electrical and Electronic Engineering, School of Electrical Engineering, Hanyang University, Ansan, Republic of Korea
| | - Hwa-Seob Song
- Department of Electrical and Electronic Engineering, School of Electrical Engineering, Hanyang University, Ansan, Republic of Korea
| | - Gyoung Min Kim
- Department of Radiology, Severance Hospital, Research Institute of Radiological Science, Yonsei University College of Medicine, Seoul, Republic of Korea
| | - Joon Ho Kwon
- Department of Radiology, Severance Hospital, Research Institute of Radiological Science, Yonsei University College of Medicine, Seoul, Republic of Korea
| | - Kichang Han
- Department of Radiology, Severance Hospital, Research Institute of Radiological Science, Yonsei University College of Medicine, Seoul, Republic of Korea
| | - Jong Yun Won
- Department of Radiology, Severance Hospital, Research Institute of Radiological Science, Yonsei University College of Medicine, Seoul, Republic of Korea.
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Song Y, Li L, Tian Y, Li Z, Yin X. A Novel Master-Slave Interventional Surgery Robot with Force Feedback and Collaborative Operation. SENSORS (BASEL, SWITZERLAND) 2023; 23:3584. [PMID: 37050644 PMCID: PMC10099359 DOI: 10.3390/s23073584] [Citation(s) in RCA: 1] [Impact Index Per Article: 1.0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Figures] [Subscribe] [Scholar Register] [Received: 02/13/2023] [Revised: 03/11/2023] [Accepted: 03/27/2023] [Indexed: 06/19/2023]
Abstract
In recent years, master-slave vascular robots have been developed to address the problem of radiation exposure during vascular interventions for surgeons. However, the single visual feedback reduces surgeon immersion and transparency of the system. In this work, we have developed a haptic interface based on the magnetorheological fluid (MRF) on the master side. The haptic interface can provide passive feedback force with high force fidelity and low inertia. Additionally, the manipulation of the master device does not change the operating posture of traditional surgery, which allows the surgeon to better adapt to the robotic system. For the slave robot, the catheter and guidewire can be navigated simultaneously which allows the two degrees of action on the catheter and axial action of a guidewire. The resistance force of the catheter navigation is measured and reflected to the user through the master haptic interface. To verify the proposed master-slave robotic system, the evaluation experiments are carried out in vitro, and the effectiveness of the system was demonstrated experimentally.
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Affiliation(s)
- Yu Song
- Tianjin Key Laboratory for Control Theory and Applications in Complicated Industry Systems, School of Electrical Engineering and Automation, Tianjin University of Technology, Tianjin 300384, China
| | - Liutao Li
- Tianjin Key Laboratory for Control Theory and Applications in Complicated Industry Systems, School of Electrical Engineering and Automation, Tianjin University of Technology, Tianjin 300384, China
| | - Yu Tian
- Tianjin Key Laboratory for Control Theory and Applications in Complicated Industry Systems, School of Electrical Engineering and Automation, Tianjin University of Technology, Tianjin 300384, China
| | - Zhiwei Li
- Tianjin Key Laboratory for Control Theory and Applications in Complicated Industry Systems, School of Electrical Engineering and Automation, Tianjin University of Technology, Tianjin 300384, China
| | - Xuanchun Yin
- School of Engineering, South China Agricultural University, Guangzhou 510642, China
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3
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Duan W, Akinyemi T, Du W, Ma J, Chen X, Wang F, Omisore O, Luo J, Wang H, Wang L. Technical and Clinical Progress on Robot-Assisted Endovascular Interventions: A Review. MICROMACHINES 2023; 14:197. [PMID: 36677258 PMCID: PMC9864595 DOI: 10.3390/mi14010197] [Citation(s) in RCA: 3] [Impact Index Per Article: 3.0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Figures] [Subscribe] [Scholar Register] [Received: 10/23/2022] [Revised: 01/05/2023] [Accepted: 01/12/2023] [Indexed: 06/17/2023]
Abstract
Prior methods of patient care have changed in recent years due to the availability of minimally invasive surgical platforms for endovascular interventions. These platforms have demonstrated the ability to improve patients' vascular intervention outcomes, and global morbidities and mortalities from vascular disease are decreasing. Nonetheless, there are still concerns about the long-term effects of exposing interventionalists and patients to the operational hazards in the cath lab, and the perioperative risks that patients undergo. For these reasons, robot-assisted vascular interventions were developed to provide interventionalists with the ability to perform minimally invasive procedures with improved surgical workflow. We conducted a thorough literature search and presented a review of 130 studies published within the last 20 years that focused on robot-assisted endovascular interventions and are closely related to the current gains and obstacles of vascular interventional robots published up to 2022. We assessed both the research-based prototypes and commercial products, with an emphasis on their technical characteristics and application domains. Furthermore, we outlined how the robotic platforms enhanced both surgeons' and patients' perioperative experiences of robot-assisted vascular interventions. Finally, we summarized our findings and proposed three key milestones that could improve the development of the next-generation vascular interventional robots.
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Affiliation(s)
- Wenke Duan
- Academy for Engineering and Technology, Fudan University, Shanghai 200433, China
- Shenzhen Institutes of Advanced Technology, Chinese Academy of Sciences, Shenzhen 518055, China
| | - Toluwanimi Akinyemi
- Shenzhen Institutes of Advanced Technology, Chinese Academy of Sciences, Shenzhen 518055, China
| | - Wenjing Du
- Shenzhen Institutes of Advanced Technology, Chinese Academy of Sciences, Shenzhen 518055, China
| | - Jun Ma
- Shenzhen Raysight Intelligent Medical Technology Co., Ltd., Shenzhen 518063, China
| | - Xingyu Chen
- Shenzhen Institutes of Advanced Technology, Chinese Academy of Sciences, Shenzhen 518055, China
| | - Fuhao Wang
- Academy for Engineering and Technology, Fudan University, Shanghai 200433, China
| | - Olatunji Omisore
- Shenzhen Institutes of Advanced Technology, Chinese Academy of Sciences, Shenzhen 518055, China
- Shenzhen Engineering Laboratory for Diagnosis & Treatment Key Technologies of Interventional Surgical Robots, Shenzhen 518055, China
| | - Jingjing Luo
- Academy for Engineering and Technology, Fudan University, Shanghai 200433, China
| | - Hongbo Wang
- Academy for Engineering and Technology, Fudan University, Shanghai 200433, China
| | - Lei Wang
- Shenzhen Institutes of Advanced Technology, Chinese Academy of Sciences, Shenzhen 518055, China
- Shenzhen Engineering Laboratory for Diagnosis & Treatment Key Technologies of Interventional Surgical Robots, Shenzhen 518055, China
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4
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Condino S, Piazza R, Carbone M, Bath J, Troisi N, Ferrari M, Berchiolli R. Bioengineering, augmented reality, and robotic surgery in vascular surgery: A literature review. Front Surg 2022; 9:966118. [PMID: 36061062 PMCID: PMC9437582 DOI: 10.3389/fsurg.2022.966118] [Citation(s) in RCA: 1] [Impact Index Per Article: 0.5] [Reference Citation Analysis] [Abstract] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 06/10/2022] [Accepted: 08/04/2022] [Indexed: 12/20/2022] Open
Abstract
Biomedical engineering integrates a variety of applied sciences with life sciences to improve human health and reduce the invasiveness of surgical procedures. Technological advances, achieved through biomedical engineering, have contributed to significant improvements in the field of vascular and endovascular surgery. This paper aims to review the most cutting-edge technologies of the last decade involving the use of augmented reality devices and robotic systems in vascular surgery, highlighting benefits and limitations. Accordingly, two distinct literature surveys were conducted through the PubMed database: the first review provides a comprehensive assessment of augmented reality technologies, including the different techniques available for the visualization of virtual content (11 papers revised); the second review collects studies with bioengineering content that highlight the research trend in robotic vascular surgery, excluding works focused only on the clinical use of commercially available robotic systems (15 papers revised). Technological flow is constant and further advances in imaging techniques and hardware components will inevitably bring new tools for a clinical translation of innovative therapeutic strategies in vascular surgery.
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Affiliation(s)
- Sara Condino
- Department of Information Engineering, University of Pisa, Pisa, Italy
- EndoCAS Center, Department of Translational Research and New Technologies in Medicine and Surgery, University of Pisa, Pisa, Italy
| | - Roberta Piazza
- EndoCAS Center, Department of Translational Research and New Technologies in Medicine and Surgery, University of Pisa, Pisa, Italy
| | - Marina Carbone
- Department of Information Engineering, University of Pisa, Pisa, Italy
- EndoCAS Center, Department of Translational Research and New Technologies in Medicine and Surgery, University of Pisa, Pisa, Italy
- Correspondence: Marina Carbone
| | - Jonathan Bath
- Division of Vascular Surgery, University of Missouri, Columbia, MO, United States
| | - Nicola Troisi
- Vascular Surgery Unit, Department of Translational Research and New Technologies in Medicine and Surgery, University of Pisa, Pisa, Italy
| | - Mauro Ferrari
- Vascular Surgery Unit, Department of Translational Research and New Technologies in Medicine and Surgery, University of Pisa, Pisa, Italy
| | - Raffaella Berchiolli
- Vascular Surgery Unit, Department of Translational Research and New Technologies in Medicine and Surgery, University of Pisa, Pisa, Italy
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5
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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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6
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Choi J, Park S, Kim YH, Moon Y, Choi J. A Vascular Intervention Assist Device Using Bi-Motional Roller Cartridge Structure and Clinical Evaluation. BIOSENSORS-BASEL 2021; 11:bios11090329. [PMID: 34562918 PMCID: PMC8472030 DOI: 10.3390/bios11090329] [Citation(s) in RCA: 6] [Impact Index Per Article: 2.0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Grants] [Track Full Text] [Download PDF] [Figures] [Subscribe] [Scholar Register] [Received: 07/14/2021] [Revised: 08/30/2021] [Accepted: 09/07/2021] [Indexed: 11/16/2022]
Abstract
Conventional vascular intervention procedures present issues including X-ray exposure during operation, and an experience-dependent success rate and clinical outcome. This paper presents a novel robotic system using modularized bi-motional roller cartridge assemblies for robotic vascular interventions, specifically percutaneous coronary interventions (PCIs). The patient-side robot manipulates instruments such as the guiding catheter, guidewire, balloon/stent catheter, and diagnostic sensor catheter via commands from the user interface device, which is controlled by the physician. The proposed roller cartridge assembly can accommodate instruments of various sizes with an active clamping mechanism, and implements simultaneous translation and rotation motions. It also implements force feedback in the physician-side system, to effectively monitor the patient-side system’s status. The positioning accuracy and precision in using the robotic system showed satisfactory performance in a phantom-based test. It was also confirmed, through animal experiments and a pilot clinical trial, that the system demonstrates feasibility for clinical use.
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Affiliation(s)
- Jueun Choi
- Department of Biomedical Engineering, Asan Medical Center, University of Ulsan College of Medicine, Seoul 05505, Korea;
| | - Sangeun Park
- Biomedical Engineering Research Center, Asan Institute for Life Sciences, Asan Medical Center, Seoul 05505, Korea;
| | - Young-Hak Kim
- Department of Cardiology, Asan Medical Center, University of Ulsan College of Medicine, Seoul 05505, Korea;
| | - Youngjin Moon
- Biomedical Engineering Research Center, Asan Institute for Life Sciences, Asan Medical Center, Seoul 05505, Korea;
- Department of Convergence Medicine, Asan Medical Center, University of Ulsan College of Medicine, Seoul 05505, Korea
- Correspondence: (Y.M.); (J.C.); Tel.: +82-2-3010-6347 (Y.M.); +82-2-3010-2092 (J.C.)
| | - Jaesoon Choi
- Department of Biomedical Engineering, Asan Medical Center, University of Ulsan College of Medicine, Seoul 05505, Korea;
- Biomedical Engineering Research Center, Asan Institute for Life Sciences, Asan Medical Center, Seoul 05505, Korea;
- Correspondence: (Y.M.); (J.C.); Tel.: +82-2-3010-6347 (Y.M.); +82-2-3010-2092 (J.C.)
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7
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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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8
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Ma X, Zhou J, Zhang X, Qi Y, Huang X. Design of a New Catheter Operating System for the Surgical Robot. Appl Bionics Biomech 2021; 2021:8898311. [PMID: 33574891 PMCID: PMC7861939 DOI: 10.1155/2021/8898311] [Citation(s) in RCA: 3] [Impact Index Per Article: 1.0] [Reference Citation Analysis] [Abstract] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 05/28/2020] [Revised: 11/28/2020] [Accepted: 01/09/2021] [Indexed: 11/17/2022] Open
Abstract
In interventional surgery, the manual operation of the catheter is not accurate. It is necessary to operate the catheter skillfully and effectively to protect the surgeon from radiation injury. The purpose of this paper is to design a new robot catheter operating system, which can help surgeons to complete the operation with high mechanical precision. On the basis of the original mechanical structure-real catheter, the operation information of the main end operator is collected. After the information is collected, the control algorithm of the system is improved, and the BP neural network is combined with the traditional PID controller to adjust the PID control parameters more effectively and intelligently so that the motor can reflect the output of the controller better and faster. The feasibility and superiority of the BP neural network PID controller are verified by simulation experiments.
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Affiliation(s)
- Xu Ma
- Tianjin Key Laboratory for Control Theory & Applications in Complicated Industry Systems, College of Electrical and Electronic Engineering, Tianjin University of Technology, Tianjin, China 300384
| | - Jinpeng Zhou
- Tianjin Key Laboratory for Control Theory & Applications in Complicated Industry Systems, College of Electrical and Electronic Engineering, Tianjin University of Technology, Tianjin, China 300384
| | - Xu Zhang
- Tianjin Key Laboratory of High Speed Cutting and Precision Machining, School of Mechanical Engineering, Tianjin University of Technology and Education, Tianjin, China 300222
| | - Yang Qi
- Tianjin Key Laboratory of High Speed Cutting and Precision Machining, School of Mechanical Engineering, Tianjin University of Technology and Education, Tianjin, China 300222
| | - Xiaochen Huang
- Tianjin Key Laboratory of High Speed Cutting and Precision Machining, School of Mechanical Engineering, Tianjin University of Technology and Education, Tianjin, China 300222
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9
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Development of a Robotic Catheter Manipulation System Based on BP Neural Network PID Controller. Appl Bionics Biomech 2020; 2020:8870106. [PMID: 33425007 PMCID: PMC7775165 DOI: 10.1155/2020/8870106] [Citation(s) in RCA: 4] [Impact Index Per Article: 1.0] [Reference Citation Analysis] [Abstract] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 03/28/2020] [Revised: 10/15/2020] [Accepted: 12/05/2020] [Indexed: 11/23/2022] Open
Abstract
In the process of artificial interventional therapy, the operation of artificial catheter is not accurate, which will bring strong radiation damage to surgeons. The purpose of this study is to develop a catheter operating system of surgical robot to assist doctors in remote operation and avoid the influence of radiation. BP neural network plays an important role in the flexibility and rapidity of control. According to the actual output of the system, the control parameters of the controller are constantly adjusted to achieve better output effect. This paper introduces the practical application of BP neural network PID controller in the remote operation of the system and compares with the traditional PID controller. The results show that the new control algorithm is feasible and effective. The results show that the synchronization performance of BP neural network PID controller is better than that of traditional PID controller.
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10
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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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11
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Advantage of Steerable Catheter and Haptic Feedback for a 5-DOF Vascular Intervention Robot System. APPLIED SCIENCES-BASEL 2019. [DOI: 10.3390/app9204305] [Citation(s) in RCA: 15] [Impact Index Per Article: 3.0] [Reference Citation Analysis] [Abstract] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 12/13/2022]
Abstract
Vascular intervention involves inserting a catheter and guidewire into blood vessels to diagnose and treat a disease in an X-ray environment. In this conventional vascular intervention procedure, the doctor is exposed to considerable radiation. To reduce the exposure, we developed a master–slave robot system. A steerable catheter is employed to shorten the task-time and reduce the contact force applied to the vessel walls during catheter insertion. The steerable catheter helps to select a vascular branch; thus, the radiation exposure time for patients is reduced, and perforation in the patient’s vessel is prevented. Additionally, the robot system employs a haptic function to replicate the physician’s tactile sensing in vascular intervention. In this study, the effectiveness of the steering catheter and haptic function was demonstrated experimentally in comparison with a conventional catheter.
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12
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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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13
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Jeon S, Hoshiar AK, Kim K, Lee S, Kim E, Lee S, Kim JY, Nelson BJ, Cha HJ, Yi BJ, Choi H. A Magnetically Controlled Soft Microrobot Steering a Guidewire in a Three-Dimensional Phantom Vascular Network. Soft Robot 2018; 6:54-68. [PMID: 30312145 PMCID: PMC6386781 DOI: 10.1089/soro.2018.0019] [Citation(s) in RCA: 102] [Impact Index Per Article: 17.0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 12/21/2022] Open
Abstract
Magnetically actuated soft robots may improve the treatment of disseminated intravascular coagulation. Significant progress has been made in the development of soft robotic systems that steer catheters. A more challenging task, however, is the development of systems that steer sub-millimeter-diameter guidewires during intravascular treatments; a novel microrobotic approach is required for steering. In this article, we develop a novel, magnetically actuated, soft microrobotic system, increasing the steerability of a conventional guidewire. The soft microrobot is attached to the tip of the guidewire, and it is magnetically steered by changing the direction and intensity of an external magnetic field. The microrobot is fabricated via replica molding and features a soft body made of polydimethylsiloxane, two permanent magnets, and a microspring. We developed a mathematical model mapping deformation of the soft microrobot using a feed-forward approach toward steering. Then, we used the model to steer a guidewire. The angulation of the microrobot can be controlled from 21.1° to 132.7° by using a magnetic field of an intensity of 15 mT. Steerability was confirmed by two-dimensional in vitro tracking. Finally, a guidewire with the soft microrobot was tested by using a three-dimensional (3D) phantom of the coronary artery to verify steerability in 3D space.
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Affiliation(s)
- Sungwoong Jeon
- 1 Department of Robotics Engineering, Daegu Gyeongbuk Institute of Science and Technology (DGIST), Daegu, South Korea.,2 DGIST-ETH Microrobotics Research Center (DEMRC), DGIST, Daegu, South Korea
| | - Ali Kafash Hoshiar
- 1 Department of Robotics Engineering, Daegu Gyeongbuk Institute of Science and Technology (DGIST), Daegu, South Korea.,2 DGIST-ETH Microrobotics Research Center (DEMRC), DGIST, Daegu, South Korea
| | - Kangho Kim
- 1 Department of Robotics Engineering, Daegu Gyeongbuk Institute of Science and Technology (DGIST), Daegu, South Korea.,2 DGIST-ETH Microrobotics Research Center (DEMRC), DGIST, Daegu, South Korea
| | - Seungmin Lee
- 1 Department of Robotics Engineering, Daegu Gyeongbuk Institute of Science and Technology (DGIST), Daegu, South Korea.,2 DGIST-ETH Microrobotics Research Center (DEMRC), DGIST, Daegu, South Korea
| | - Eunhee Kim
- 1 Department of Robotics Engineering, Daegu Gyeongbuk Institute of Science and Technology (DGIST), Daegu, South Korea.,2 DGIST-ETH Microrobotics Research Center (DEMRC), DGIST, Daegu, South Korea
| | - Sunkey Lee
- 1 Department of Robotics Engineering, Daegu Gyeongbuk Institute of Science and Technology (DGIST), Daegu, South Korea.,2 DGIST-ETH Microrobotics Research Center (DEMRC), DGIST, Daegu, South Korea
| | - Jin-Young Kim
- 1 Department of Robotics Engineering, Daegu Gyeongbuk Institute of Science and Technology (DGIST), Daegu, South Korea.,2 DGIST-ETH Microrobotics Research Center (DEMRC), DGIST, Daegu, South Korea
| | - Bradley J Nelson
- 2 DGIST-ETH Microrobotics Research Center (DEMRC), DGIST, Daegu, South Korea.,3 Institute of Robotics and Intelligent Systems, ETH Zurich, Zurich, Switzerland
| | - Hyo-Jeong Cha
- 4 Department of Electronic Systems Engineering, Hanyang University, Ansan, Korea
| | - Byung-Ju Yi
- 4 Department of Electronic Systems Engineering, Hanyang University, Ansan, Korea
| | - Hongsoo Choi
- 1 Department of Robotics Engineering, Daegu Gyeongbuk Institute of Science and Technology (DGIST), Daegu, South Korea.,2 DGIST-ETH Microrobotics Research Center (DEMRC), DGIST, Daegu, South Korea
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14
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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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