A cooperation of catheters and guidewires-based novel remote-controlled vascular interventional robot |
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| Authors: | Xianqiang Bao Shuxiang Guo Nan Xiao Youxiang Li Cheng Yang Yuhua Jiang |
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| Affiliation: | 1.Key Laboratory of Convergence Medical Engineering System and Healthcare Technology, Ministry of Industry and Information Technology,Beijing Institute of Technology,Beijing,China;2.Intelligent Mechanical Systems Engineering Department,Kagawa University,Takamatsu,Japan;3.Department of Interventional Neuroradiology, Beijing Engineering Technology Research Center for Interventional Neuroradiology, and Beijing Neurosurgical Institute, Beijing Tiantan Hospital,Capital Medical University,Beijing,China |
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| Abstract: | ![]()
Remote-controlled vascular interventional robots (RVIRs) are being developed to increase the overall accuracy of surgical operations and reduce the occupational risks of intervening physicians, such as radiation exposure and chronic neck/back pain. Several RVIRs have been used to operate catheters or guidewires accurately. However, a lack of cooperation between the catheters and guidewires results in the surgeon being unable to complete complex surgery by propelling the catheter/guidewire to the target position. Furthermore, it is a significant challenge to operate the catheter/guidewire accurately and detect their proximal force without damaging their surfaces. In this study, we introduce a novel method that allows catheters and guidewires to be operated simultaneously in complex surgery. Our method accurately captures force measurements and enables precisely controlled catheter and guidewire operation. A prototype is validated through various experiments. The results demonstrate the feasibility of the proposed RVIR to operate a catheter and guidewire accurately, detect the resistance forces, and complete complex surgical operations in a cooperative manner. |
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