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

doi:10.1109/ICRAE53653.2021.9657763

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

^*Corresponding author for this work

Research output: Chapter in Book/Conference proceeding › Conference contribution › peer-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 language	English
Title of host publication	2021 6th International Conference on Robotics and Automation Engineering, ICRAE 2021
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	331-338
Number of pages	8
ISBN (Electronic)	9781665406970
DOIs	https://doi.org/10.1109/ICRAE53653.2021.9657763
Publication status	Published - 2021
Externally published	Yes
Event	6th International Conference on Robotics and Automation Engineering, ICRAE 2021 - Guangzhou, China Duration: 19 Nov 2021 → 22 Nov 2021

Publication series

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

Conference

Conference	6th International Conference on Robotics and Automation Engineering, ICRAE 2021
Country/Territory	China
City	Guangzhou
Period	19/11/21 → 22/11/21

UN SDGs

This output contributes to the following UN Sustainable Development Goals (SDGs)

SDG 3 Good Health and Well-being

Free Keywords

master-slave following
robot
system performance
vascular interventions

ASJC Scopus subject areas

Control and Systems Engineering
Mechanical Engineering
Control and Optimization

Access to Document

10.1109/ICRAE53653.2021.9657763

Cite this

Lai, Z., Li, Y., Wang, W., Duan, W., Du, W., Omisore, O. M., & Akinyemi, T. (2021). Implementation and Performance Analysis of Vascular Interventional Robotic Surgical Maneuvers. In 2021 6th International Conference on Robotics and Automation Engineering, ICRAE 2021 (pp. 331-338). (2021 6th International Conference on Robotics and Automation Engineering, ICRAE 2021). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICRAE53653.2021.9657763

Lai, Zhengrong ; Li, Yifa ; Wang, Weimin et al. / Implementation and Performance Analysis of Vascular Interventional Robotic Surgical Maneuvers. 2021 6th International Conference on Robotics and Automation Engineering, ICRAE 2021. Institute of Electrical and Electronics Engineers Inc., 2021. pp. 331-338 (2021 6th International Conference on Robotics and Automation Engineering, ICRAE 2021).

@inproceedings{602c83628f1a47f69493071c5d003779,

title = "Implementation and Performance Analysis of Vascular Interventional Robotic Surgical Maneuvers",

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. ",

keywords = "master-slave following, robot, system performance, vascular interventions",

author = "Zhengrong Lai and Yifa Li and Weimin Wang and Wenke Duan and Wenjing Du and Omisore, \{Olatunji Mumini\} and Toluwanimi Akinyemi",

note = "Funding Information: ACKNOWLEDGMENT This work was supported by Key-Area Research and Development Program of Guangdong Province, China (2018B010124001). Publisher Copyright: {\textcopyright} 2021 IEEE.; 6th International Conference on Robotics and Automation Engineering, ICRAE 2021 ; Conference date: 19-11-2021 Through 22-11-2021",

year = "2021",

doi = "10.1109/ICRAE53653.2021.9657763",

language = "English",

series = "2021 6th International Conference on Robotics and Automation Engineering, ICRAE 2021",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

pages = "331--338",

booktitle = "2021 6th International Conference on Robotics and Automation Engineering, ICRAE 2021",

address = "United States",

}

Lai, Z, Li, Y, Wang, W, Duan, W, Du, W, Omisore, OM & Akinyemi, T 2021, Implementation and Performance Analysis of Vascular Interventional Robotic Surgical Maneuvers. in 2021 6th International Conference on Robotics and Automation Engineering, ICRAE 2021. 2021 6th International Conference on Robotics and Automation Engineering, ICRAE 2021, Institute of Electrical and Electronics Engineers Inc., pp. 331-338, 6th International Conference on Robotics and Automation Engineering, ICRAE 2021, Guangzhou, China, 19/11/21. https://doi.org/10.1109/ICRAE53653.2021.9657763

Implementation and Performance Analysis of Vascular Interventional Robotic Surgical Maneuvers. / Lai, Zhengrong; Li, Yifa; Wang, Weimin et al.
2021 6th International Conference on Robotics and Automation Engineering, ICRAE 2021. Institute of Electrical and Electronics Engineers Inc., 2021. p. 331-338 (2021 6th International Conference on Robotics and Automation Engineering, ICRAE 2021).

Research output: Chapter in Book/Conference proceeding › Conference contribution › peer-review

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

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 - https://www.scopus.com/pages/publications/85124799965

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 -

Lai Z, Li Y, Wang W, Duan W, Du W, Omisore OM et al. Implementation and Performance Analysis of Vascular Interventional Robotic Surgical Maneuvers. In 2021 6th International Conference on Robotics and Automation Engineering, ICRAE 2021. Institute of Electrical and Electronics Engineers Inc. 2021. p. 331-338. (2021 6th International Conference on Robotics and Automation Engineering, ICRAE 2021). doi: 10.1109/ICRAE53653.2021.9657763

Implementation and Performance Analysis of Vascular Interventional Robotic Surgical Maneuvers

Abstract

Publication series

Conference

UN SDGs

Free Keywords

ASJC Scopus subject areas

Access to Document

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