Design of Vascular Interventional Surgical Robot with Network Time Delay Analysis for Master-slave Teleoperation

Yifa Li, Weimin Wang, Wenke Duan, Omisore Olatunji Mumini, Toluwanimi Akinyemi, Wenjing Du, Yuhong Zheng

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

Abstract

Intravascular catheterization is a vital task performed by surgeons during interventional treatment of vascular diseases. The procedure is reliant on achieving a precise and safe manipulation of endovascular tools from the entry port to the target location within the patient vasculature. However, during such procedures inefficient proximal-to-distal transmissions could occur due to imprecise motion control, communication delay as well as the application of an excessive force. Thus achieving a precise control of endovascular tools during procedures remain an active research area. This study proposes a master-slave interventional (MSI) robot prototype for precise control of guide wire axial and rotational motion within the vasculature. The mechanism of the MSI robot mimics the natural operating process of a surgeon and therefore requires little learning cost. And the system's force feedback module improves the robot's transparency. Furthermore, a multi-connection time-delay control approach is proposed to minimize communication delay and improve the stability of the MSI robot. The developed prototype was utilized for in-vivo experiments with the experimental outcome demonstrating its versatility for vascular intervention.

Original languageEnglish
Title of host publicationProceedings - 2021 4th International Conference on Intelligent Autonomous Systems, ICoIAS 2021
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages406-412
Number of pages7
ISBN (Electronic)9781665441957
DOIs
Publication statusPublished - May 2021
Externally publishedYes
Event4th International Conference on Intelligent Autonomous Systems, ICoIAS 2021 - Wuhan, China
Duration: 14 May 202116 May 2021

Publication series

NameProceedings - 2021 4th International Conference on Intelligent Autonomous Systems, ICoIAS 2021

Conference

Conference4th International Conference on Intelligent Autonomous Systems, ICoIAS 2021
Country/TerritoryChina
CityWuhan
Period14/05/2116/05/21

Keywords

  • force feedback
  • teleoperation
  • time delay
  • vascular interventional robot

ASJC Scopus subject areas

  • Artificial Intelligence
  • Computer Vision and Pattern Recognition
  • Signal Processing
  • Control and Optimization
  • Instrumentation

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