Journal ArticleDOI
The master-slave catheterisation system for positioning the steerable catheter
Yili Fu,Anzhu Gao,Hao Liu,Shuxiang Guo +3 more
- Vol. 1, pp 143-152
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TLDR
A master-slave catheterisation system including a steerable catheter with positioning function and an insertion mechanism with force feedback and the stability and accuracy of the system is validated in-vitro.Abstract:
This paper proposes a master-slave catheterisation system including a steerable catheter with positioning function and an insertion mechanism with force feedback. The steerable catheter is integrated with two magnetic tracking sensors for positioning. The distal shape of catheter is displayed with virtual vascular model to generate 3D guiding image to provide the relative relationship between the catheter and its surrounding vessels. The master-slave insertion mechanism with differential gear structure is designed with force feedback to assist surgeons to manipulate the catheter. It can implement pulling/pushing, rotating and bending/recovering the catheter. Based on this system, surgeons in the control room can utilise the master handle to operate the insertion mechanism for positioning the distal end of catheter with the assistance of 3D guiding image. The stability and accuracy of the system is validated in-vitro.read more
Citations
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Journal ArticleDOI
A novel robotic catheter system with force and visual feedback for vascular interventional surgery
TL;DR: A novel master-slave robotic catheter operating system with force feedback and visual feedback for vascular interventional surgery (VIS) that has good manoeuvrability, it can transmit the surgeon’s skill to insert and rotate the catheter and avoids danger during VIS using force andVisual feedback.
Journal ArticleDOI
Design and experimental evaluation of a teleoperated haptic robot–assisted catheter operating system:
TL;DR: Experimental results illustrated that the designed haptic catheter operation system can be used for teleoperation and for training the surgeon for the non-experience.
Journal ArticleDOI
Performance evaluation of a strain-gauge force sensor for a haptic robot-assisted catheter operating system
TL;DR: In this article, a force-sensing device based on strain gauges was proposed to measure the proximal force signals of the input catheter, and a haptic interface based on MR fluid was designed to provide a realistic sense of operation according to the force signals from the slave side.
Journal ArticleDOI
Design and characteristics evaluation of a novel teleoperated robotic catheterization system with force feedback for vascular interventional surgery.
Jian Guo,Shuxiang Guo,Yang Yu +2 more
TL;DR: Experimental results indicated that the developed novel robotic catheterization system with force feedback and visualization of force feedback is effective for VIS, it can improve the safety during VIS.
Journal ArticleDOI
Design and performance evaluation of collision protection-based safety operation for a haptic robot-assisted catheter operating system
Linshuai Zhang,Shuxiang Guo,Shuxiang Guo,Huadong Yu,Yu Song,Takashi Tamiya,Hideyuki Hirata,Hidenori Ishihara +7 more
TL;DR: A novel catheter operating system based on tissue protection to prevent vessel puncture caused by collision and the results show that the further collision damage can be effectively prevented by the CPM, which implies the realization of relative safe catheterization.
References
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TL;DR: The use of a computerized robotically assisted catheter control system is feasible and shows promise in rapid precision movement of the catheter.