TY - GEN
T1 - Implementation and Performance Analysis of Vascular Interventional Robotic Surgical Maneuvers
AU - Lai, Zhengrong
AU - Li, Yifa
AU - Wang, Weimin
AU - Duan, Wenke
AU - Du, Wenjing
AU - Omisore, Olatunji Mumini
AU - Akinyemi, Toluwanimi
N1 - Funding Information:
ACKNOWLEDGMENT This work was supported by Key-Area Research and Development Program of Guangdong Province, China (2018B010124001).
Publisher Copyright:
© 2021 IEEE.
PY - 2021
Y1 - 2021
N2 - 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.
AB - 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.
KW - master-slave following
KW - robot
KW - system performance
KW - vascular interventions
UR - http://www.scopus.com/inward/record.url?scp=85124799965&partnerID=8YFLogxK
U2 - 10.1109/ICRAE53653.2021.9657763
DO - 10.1109/ICRAE53653.2021.9657763
M3 - Conference contribution
AN - SCOPUS:85124799965
T3 - 2021 6th International Conference on Robotics and Automation Engineering, ICRAE 2021
SP - 331
EP - 338
BT - 2021 6th International Conference on Robotics and Automation Engineering, ICRAE 2021
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 6th International Conference on Robotics and Automation Engineering, ICRAE 2021
Y2 - 19 November 2021 through 22 November 2021
ER -
