Design of a Master-Slave Robotic System for Intravascular Catheterization during Cardiac Interventions

Olatunji Mumini Omisore, Wenke Duan, Toluwanimi Akinyemi, Shipeng Han, Wenjing Du, Yousef Alhanderish, Lei Wang

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

4 Citations (Scopus)

Abstract

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.

Original languageEnglish
Title of host publication16th IEEE International Conference on Control, Automation, Robotics and Vision, ICARCV 2020
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages996-1000
Number of pages5
ISBN (Electronic)9781728177090
DOIs
Publication statusPublished - 13 Dec 2020
Externally publishedYes
Event16th IEEE International Conference on Control, Automation, Robotics and Vision, ICARCV 2020 - Virtual, Shenzhen, China
Duration: 13 Dec 202015 Dec 2020

Publication series

Name16th IEEE International Conference on Control, Automation, Robotics and Vision, ICARCV 2020

Conference

Conference16th IEEE International Conference on Control, Automation, Robotics and Vision, ICARCV 2020
Country/TerritoryChina
CityVirtual, Shenzhen
Period13/12/2015/12/20

Keywords

  • Cardiac interventions
  • Master-Slave control
  • Percutaneous coronary intervention
  • Robotic catheter systems

ASJC Scopus subject areas

  • Artificial Intelligence
  • Computer Networks and Communications
  • Computer Science Applications
  • Computer Vision and Pattern Recognition
  • Control and Systems Engineering
  • Control and Optimization

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