Implementation and Performance Analysis of Vascular Interventional Robotic Surgical Maneuvers

Zhengrong Lai, Yifa Li, Weimin Wang, Wenke Duan, Wenjing Du, Olatunji Mumini Omisore, Toluwanimi Akinyemi

Research output: Chapter in Book/Conference proceedingConference contributionpeer-review

2 Citations (Scopus)

Abstract

Minimally invasive vascular interventional surgery has become one of the main clinical modalities for the treatment of cardiovascular diseases due to its advantages of small intraoperative incisions, precise localization of lesions, and rapid postoperative healing. Based on the drawbacks of low operational precision and excessive radiation exposure of physicians in current vascular interventional procedures, this paper proposes a master-slave teleoperated vascular interventional surgery robotic system to assist physicians in human-machine collaborative interventional procedures. Particularly, the implementation of the system's surgical actions of push-pull and twist guidewire is presented, including hardware construction and driver development. Further, experiments are conducted to test and analyze the performance of the robotic control system. The experimental results verify that the robotic system has good master-slave following and high system positioning accuracy. Finally, the feasibility and reliability of the robotic system for delivering guidewires to perform interventional procedures were verified by robot-vascular model experiments.

Original languageEnglish
Title of host publication2021 6th International Conference on Robotics and Automation Engineering, ICRAE 2021
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages331-338
Number of pages8
ISBN (Electronic)9781665406970
DOIs
Publication statusPublished - 2021
Externally publishedYes
Event6th International Conference on Robotics and Automation Engineering, ICRAE 2021 - Guangzhou, China
Duration: 19 Nov 202122 Nov 2021

Publication series

Name2021 6th International Conference on Robotics and Automation Engineering, ICRAE 2021

Conference

Conference6th International Conference on Robotics and Automation Engineering, ICRAE 2021
Country/TerritoryChina
CityGuangzhou
Period19/11/2122/11/21

Keywords

  • master-slave following
  • robot
  • system performance
  • vascular interventions

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Mechanical Engineering
  • Control and Optimization

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