TY - GEN
T1 - Design of a Master-Slave Robotic System for Intravascular Catheterization during Cardiac Interventions
AU - Omisore, Olatunji Mumini
AU - Duan, Wenke
AU - Akinyemi, Toluwanimi
AU - Han, Shipeng
AU - Du, Wenjing
AU - Alhanderish, Yousef
AU - Wang, Lei
N1 - Funding Information:
*This work was supported by National Natural Science Foundation of China (#U1713219); National Key Research and Development program of China (#2019YFB1311700); the National Outstanding Youth Science Fund Project of National Natural Science Foundation of China (#61950410618); Shenzhen Natural Science Foundation (#JCYJ20190812173205538); the Outstanding Youth Innovation Research Fund of CAS-SIAT (#Y8G0381001); and CAS President’s International Fellowship Initiative.
Publisher Copyright:
© 2020 IEEE.
PY - 2020/12/13
Y1 - 2020/12/13
N2 - Recently, applications of robotic device is showing greater advances in surgery. While robotic catheterization has been embraced to reduce the operational challenges (radiation and orthopedic hazards) inherent with percutaneous coronary interventions (PCIs), robot-based cardiac interventions are still limited to very few clinical centers in the world. In this paper, the development and application of a robotic PCI system for intravascular catheterization is presented. The robotic system is setup with underactuated master-and-slave devices and a direct control model designed based on mapping unit scales of the master displacement to trigger the slave robot for intravascular catheterization. To validate the robotic system, in-vitro trials are observed in a human-like silicone-based vascular pathway with aortic stenosis. The master-slave robotic system was successfully used to cannulate the stenotic vascular pathway with guidewire and catheter. Thus, it can be suitably adapted for intravascular catheterization during PCI and related cardiac interventions.
AB - Recently, applications of robotic device is showing greater advances in surgery. While robotic catheterization has been embraced to reduce the operational challenges (radiation and orthopedic hazards) inherent with percutaneous coronary interventions (PCIs), robot-based cardiac interventions are still limited to very few clinical centers in the world. In this paper, the development and application of a robotic PCI system for intravascular catheterization is presented. The robotic system is setup with underactuated master-and-slave devices and a direct control model designed based on mapping unit scales of the master displacement to trigger the slave robot for intravascular catheterization. To validate the robotic system, in-vitro trials are observed in a human-like silicone-based vascular pathway with aortic stenosis. The master-slave robotic system was successfully used to cannulate the stenotic vascular pathway with guidewire and catheter. Thus, it can be suitably adapted for intravascular catheterization during PCI and related cardiac interventions.
KW - Cardiac interventions
KW - Master-Slave control
KW - Percutaneous coronary intervention
KW - Robotic catheter systems
UR - http://www.scopus.com/inward/record.url?scp=85100084653&partnerID=8YFLogxK
U2 - 10.1109/ICARCV50220.2020.9305413
DO - 10.1109/ICARCV50220.2020.9305413
M3 - Conference contribution
AN - SCOPUS:85100084653
T3 - 16th IEEE International Conference on Control, Automation, Robotics and Vision, ICARCV 2020
SP - 996
EP - 1000
BT - 16th IEEE International Conference on Control, Automation, Robotics and Vision, ICARCV 2020
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 16th IEEE International Conference on Control, Automation, Robotics and Vision, ICARCV 2020
Y2 - 13 December 2020 through 15 December 2020
ER -