Skip to main content

Advertisement

SpringerLink
Log in

Design and characteristics evaluation of a novel teleoperated robotic catheterization system with force feedback for vascular interventional surgery

  • Published:
Biomedical Microdevices Aims and scope Submit manuscript

Abstract

In this paper, we proposed a novel master-slave robotic catheterization system with force feedback for VIS (Vascular Interventional Surgery). The force feedback to the operator on the master side is the key factor to improve the safety during VIS. The developed system used the MR (magneto rheological) fluid to realize force feedback, and it used the developed multidimensional monitoring interface to realize the visualization of force feedback, the developed multidimensional monitoring interface can monitor the motion information of the catheter and contact force between catheter tip or side wall and blood vessel wall, and the motion data of the catheter was collected and generated diagram for reference to surgeon. We have developed a force sensor array to detect the contact force between catheter tip or side wall and blood vessel wall. The force information was detected by the developed contact force sensor array when the catheter contacted with the blood vessel. The force feedback and multidimensional information monitoring interface evaluation experiments were done, the tracking characteristic evaluation experiments were also carried out, the experimental results indicated that the developed novel robotic catheterization system with force feedback and visualization of force feedback is effective for VIS, it can improve the safety during VIS.

This is a preview of subscription content, log in via an institution to check access.

Access this article

Log in via an institution

Price excludes VAT (USA)
Tax calculation will be finalised during checkout.

Instant access to the full article PDF.

Institutional subscriptions

Fig. 1
Fig. 2
Fig. 3
Fig. 4
Fig. 5
Fig. 6
Fig. 7
Fig. 8
Fig. 9
Fig. 10
Fig. 11
Fig. 12
Fig. 13
Fig. 14
Fig. 15
Fig. 16
Fig. 17
Fig. 18
Fig. 19
Fig. 20
Fig. 21

Similar content being viewed by others

References

  • L. Di Biase, Y. Wang, R. Horton, J. Gallinghouse, P. Mohanty, J. Sanchez, D. Patel, M. Dare, R. Canby, L. Price, J. Zagrodzky, S. Bailey, D. Burkhardt, A. Natale, Ablation of atrial fibrillation utilizing robotic catheter navigation in comparison to manual navigation and ablation: single-center experience. J. Cardiovasc. Electrophysiol. 20(12), 1328–1335 (2009)

    Article  Google Scholar 

  • C. Floridi, A. Muollo, R. Giacchero, Vascular and interventional radiology radiofrequency ablation of benign thyroid nodules and recurrent thyroid cancers: literature review. J. Radiol. Med. 119, 512–520 (2014)

    Article  Google Scholar 

  • Y. Fu, A. Gao, H. Liu, S. Guo, The Master-slave Catheterization system for positioning the Steerable Catheter. Int. J. Mechatron. Autom. 1(2), 143–152 (2011)

    Article  Google Scholar 

  • M. Guiatni, V. Riboulet, C. Duriez, A. Kheddar, A combined force and thermal feedback Interface for minimally invasive procedures simulation. IEEE/ASME Trans. Mechatron. 18(3), 1083–4435 (2012)

    Google Scholar 

  • J. Guo, N. Xiao, S. Guo, T. Tamiya, A force display method for a novel catheter operating system, 2010 I.E. International Conference on Information and Automation, pp. 782–786 (2010)

  • J. Guo, S. Guo, N. Xiao, X. Ma, S. Yoshida, T. Tamiya, M. Kawanishi, A Novel Robotic Catheter System with Force and Visual Feedback for Vascular Interventional Surgery. Int. J. Mechatron. Autom. 2(1), 15–24 (2012)

    Article  Google Scholar 

  • J. Guo, S. Guo, P. Wang, W. Wei and Y. Wang, A Novel Type of Catheter Sidewall Tactile Sensor Array for Vascular Interventional Surgery, Proceedings of the 2013 ICME International Conference on Complex Medical Engineering, pp. 264–267 (2013)

  • S. Guo, J. Guo, L. Shao, P. Wang and Y. Wang, Performance Evaluation of the Novel Grasper for a Robotic Catheter Navigation System, Proceedings of 2014 I.E. International Conference on Information and Automation, pp. 339–344, July 26–29 (2014)

  • J. Guo, L. Shao, S. Guo, Y. Yang and Q. Gao, A Multidimensional Information Monitoring Method for a Novel Robotic Vascular Interventional System, Proceedings of the 2015 I.E. International Conference on Information and Automation, pp.609–613, (2015a)

  • J. Guo, S. Guo, L. Shao, P. Wang, Q. Gao, Design and performance Evaluation of a Novel Robotic Catheter System for Vascular Interventional Surgery. Microsyst. Technol. (2015b). doi:10.1007/s00542-015-2659-4

    Google Scholar 

  • S. Jaganathan, S. Gamanagatti, A. Dhar, Bleeding Scrotal Vascular Lesions: Interventional Management with Transcatheter Embolization. Int. J. Cardiovasc. Intervent. Radiol., 34, 113–116 (2011)

    Article  Google Scholar 

  • J. Jayender, R. V. Patel, and S. Nikumb, Robot-assisted catheter insertion using hybrid impedance control, In Proc. IEEE Int. Conf. Robot. Autom., pp. 607–612 (2006)

  • T.A. Kern and R. Werthschutzky, Design of a haptic display for catheterization, Proceedings of the First Joint Eurohaptics Conference and Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, pp. 477–478 (2005)

  • J. Ma, P. Berkelman, Task evaluations of a compact laparoscopic surgical robot system, 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 398–403 (2007)

  • E. Marcelli, L. Cercenelli, and G. Plicchi, A novel telerobotic system to remotely navigate standard electrophysiology catheters, In Proc. Comput. Cardiol., Sep. 14–17, pp. 137–140 (2008)

  • P. Miloro, E. Sinibaldi, A. Menciassi, Removing vascular obstructions: a challenge, yet an opportunity for interventional microdevices. J. Biomed. Microdevices 11, 511–532 (2012)

    Article  Google Scholar 

  • J.W. Park, J. Choi and H.-N. Pak et al., Development of a force-reflecting robotic platform for cardiac catheter navigation, THOUGHTS AND PROGRESS, Vol. 34, No. 11 (2010a)

  • J. W. Park, J. Choi, H.-N. Pak, S. J. Song, J. C. Lee, Y. Park, S. M. Shin and K. Su, Development of a force-reflecting robotic platform for cardiac catheter navigation, in 6th Int. Conf. Pediatric Mechanical Circulatory Support Systems Pediatric Cardiopulmonary Perfusion, pp. 1034–2039 (2010b)

  • C. C. Pieper, C. Meyer, S. Hauser, Transrenal ureteral occlusion using the Amplatzer vascular plug II: a new interventional treatment option for lower urinary tract fistulas. Int. J. Cardiovasc. Intervent. Radiol., 37, 451–457 (2014)

    Article  Google Scholar 

  • W. Shang, H. Su, G. Li and G.S. Fischer, Teleoperation system with hybrid pneumatic-piezoelectric actuation for MRI-guided needle insertion with haptic feedback, 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 4092–4098 (2013)

  • G. Srimathveeravalli, T. Kesavadas, X. Li, Design and fabrication of a robotic mechanism for remote steering and positioning of interventional devices. Int. J. Med. Rob. Comput. Assisted Surg. 6(2), 160–170 (2010)

    Google Scholar 

  • A. Talasaz, R. V. Patel, Integration of Force Reflection with Tactile Sensing for Minimally Invasive Robotics-Assisted Tumor Localization. IEEE Trans. Haptic 6(2), 217–228 (2013)

    Article  Google Scholar 

  • T.K. Tanev, B. Sofia, Minimally-invasive-surgery parallel robot with non-identical limbs, 2014 IEEE/ASME 10th International Conference on Mechatronic and Embedded Systems and Applications (MESA), pp. 1–6 (2014)

  • M. Tanimoto, F. Arai, Fukuda T. and Negoro, M., Augmentation of safety in teleoperation system for intravascular neurosurgery: a new control strategy for force display based on the variable impedance characterization, 1998 I.E. International Conference on Robotics and Automation, pp. 2890–2895 (1998).

  • M. Tanimoto, F. Arai, T. Fukuda and M. Negoro, Force display method to improve safety in teleoperation system for intravascular neurosurgery, 1999 I.E. International Conference on Robotics and Automation, pp. 1050–4729 (1999)

  • M. Tanimoto, F. Arai, and T. Fukuda, Telesurgery System for Intravascular Neurosurgery, Medical Image Computing and Computer-Assisted Intervention - MICCAI, pp. 29–39 (2000a)

  • M. Tanimoto, F. Arai, and T. Fukuda, Telesurgery System for Intravascular Neurosurgery, Medical Image Computing and Computer-Assisted Intervention - MICCAI, pp. 29–39 (2000b)

  • X. Wang, X. Duan, Q. Huang, H. Zhao, Y. Chen and H. Yu, Kinematics and Trajectory Planning of a Supporting Medical Manipulator for Vascular Interventional Surgery, Proceedings of the 2011 IEEE/ICME International Conference on Complex Medical Engineering, pp. 406–411 (2011)

  • S. Willems, D. Steve, H. Servatius, B. Hoffman, I. Drewitz, K. Llerleile, M. Ali Aydin, K. Wegscheider, T. Salukhe, T. Meinertz, T. Rostock, Persistence of pulmonary vein isolation after robotic remote-navigated ablation for atrial fibrillation and its relation to clinical outcome. J. Cardiovasc. Electrophysiol. 21(10), 1079–1084 (2010)

    Article  Google Scholar 

  • X. Yang, H. Wang, L. Sun, H. Yu, Operation and force analysis of the guide wire in a minimally invasive vascular interventional surgery robot system. Chin. J. Mech. Eng. 28, 249–257 (2015)

    Article  Google Scholar 

  • X. Yin, S. Guo, H. Hirata, H. Ishihara, Design and Experimental Evaluation of a Teleoperated Haptic Robot Assisted Catheter Operating System. J. Intell. Mater. Syst. Struct., 1–14 (2014). doi:10.1177/1045389X14556167,

  • X. Yin, S. Guo, N. Xiao, T. Tamiya, H. Hirata, H. Ishihara, Safety operation Consciousness Realization of MR Fluids-base Novel Haptic Interface for teleoperated Catheter Minimally Invasive neuro Surgery. IEEE/ASME Trans. Mechatron. (2015). doi:10.1109/TMECH.2015.2489219,

    Google Scholar 

  • Y. Yu, J. Guo, S. Guo, L. Shao, Modelling and Analysis of the Damping Force for the Master Manipulator of the Robotic Catheter System, Proceedings of the 2015 ICMA International Conference on Mechatronics and Automation, pp. 693–697 (2015)

  • C. Zakaria, N. Ayuni, K. Takashi, C. Y. Low, et al., Development of foolproof catheter guide system based on mechatronic design. J. Process Eng. 7(1), 81–90 (2013)

    Google Scholar 

  • H. Zhao and X. Duan, Design of a Catheter Operating System with Active Supporting Arm for Vascular Interventional Surgery, 2011 Third International Conference on Intelligent Human-Machine Systems and Cybernetics, pp. 169–172 (2011)

Download references

Acknowledgments

This research is supported by National High Tech. Research and Development Program of China (863 plan: 2015AA043202) and General Research Program of the Natural Science Foundation of Tianjin (13JCYBJC38600) and the Project-sponsored by SRF for ROCS, SEM (2014020).

Author information

Authors and Affiliations

  1. Tianjin Key Laboratory for Control Theory & Application in Complicated Systems and Biomedical Robot Laboratory, Tianjin University of Technology, Tianjin, China

    Jian Guo, Shuxiang Guo & Yang Yu

  2. Intelligent Mechanical Systems Engineering Department, Kagawa University, Takamatsu, Japan

    Shuxiang Guo

Authors
  1. Jian Guo
    View author publications

    You can also search for this author in PubMed Google Scholar

  2. Shuxiang Guo
    View author publications

    You can also search for this author in PubMed Google Scholar

  3. Yang Yu
    View author publications

    You can also search for this author in PubMed Google Scholar

Corresponding authors

Correspondence to Jian Guo or Shuxiang Guo.

Rights and permissions

Reprints and permissions

About this article

Check for updates. Verify currency and authenticity via CrossMark

Cite this article

Guo, J., Guo, S. & Yu, Y. Design and characteristics evaluation of a novel teleoperated robotic catheterization system with force feedback for vascular interventional surgery. Biomed Microdevices 18, 76 (2016). https://doi.org/10.1007/s10544-016-0100-0

Download citation

  • Published:

  • DOI: https://doi.org/10.1007/s10544-016-0100-0

Keywords

Search

Navigation