A Novel Robot-Assisted Endovascular Catheterization System With Haptic Force Feedback

被引：107

作者：

Guo, Shuxiang ^{[1
,2
]}

Song, Yu ^{[3
]}

Yin, Xuanchun ^{[4
]}

Zhang, Linshuai ^{[5
]}

Tamiya, Takashi ^{[6
]}

Hirata, Hideyuki ^{[2
]}

Ishihara, Hidenori ^{[2
]}

机构：

[1] Beijing Inst Technol, Key Lab Convergence Med Engn Syst & Healthcare Te, Minist Ind & Informat Technol, Beijing 100081, Peoples R China

[2] Kagawa Univ, Intelligent Mech Syst Engn Dept, Takamatsu, Kagawa 7610396, Japan

[3] Tianjin Univ Technol, Tianjin Key Lab Control Theory & Applicat Complic, Tianjin 300384, Peoples R China

[4] South China Agr Univ, Coll Engn, Guangzhou 510642, Peoples R China

[5] Kagawa Univ, Grad Sch Engn, Takamatsu, Kagawa 7610396, Japan

[6] Kagawa Univ, Fac Med, Dept Neurol Surg, Takamatsu, Kagawa 7610396, Japan

来源：

IEEE TRANSACTIONS ON ROBOTICS | 2019年 / 35卷 / 03期

关键词：

Haptic force feedback; magnetorheological (MR) fluids; master-slave; robot-assisted endovascular catheterization system (RAECS); PERFORMANCE EVALUATION; SHARED CONTROL; DESIGN;

D O I：

10.1109/TRO.2019.2896763

中图分类号：

TP24 [机器人技术];

学科分类号：

080202 ; 1405 ;

摘要：

The robot-assisted endovascular catheterization system (RAECS) has the potential to address some of the procedural challenges and separate interventionalists from the X-ray radiation during the endovascular surgery. However, the employment of robotic systems is partly changing the natural gestures and behavior of medical professionals. This paper presents a RAECS that augments surgeon'smotions using the conventional catheter as well as generates the haptic force feedback to ensure surgery safety. The magnetorheological fluids based haptic interfaceexperiment is proposed to measure the actions of the operator and provide the haptic force. The slave catheter manipulator is presented to actuate the patient catheter in two degrees of freedom (radial and axial direction). In addition, a force model is provided to characterize the kinematics of the catheter intervention. Afterward, the "pseudocollision" and "real collision" are utilized to descript the catheter tip-vessel interaction. The in vitro results are presented, which demonstrate that catheter-based haptic force feedback has a benefit for improving catheterization skills as well as reducing the cognitive workload of operators.

引用

页码：685 / 696

页数：12

共 38 条

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