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Shuxiang Guo - One of the best experts on this subject based on the ideXlab platform.

  • Operating Force information on line acquisition of a novel slave manipulator for vascular interventional surgery
    Biomedical Microdevices, 2018
    Co-Authors: Yan Zhao, Shuxiang Guo, Nan Xiao, Yuxin Wang, Yuhua Jiang
    Abstract:

    Vascular interventional surgery has its advantages compared to traditional operation. Master-slave robotic technology can further improve the operation accuracy, efficiency and safety of this complicated and high risk surgery. However, on-line acquisition of Operating Force information of catheter and guidewire remains to be a significant obstacle on the path to enhancing robotic surgery safety. Thus, a novel slave manipulator is proposed in this paper to realize on-line sensing of guidewire torsional Operating torque and axial operation Force during robotic assisted operations. A strain sensor is specially designed to detect the small scale torsional operation torque with low rotational frequency. Additionally, the axial Operating Force is detected via a load cell, which is incorporated into a sliding mechanism to eliminate the influence of friction. For validation, calibration and performance evaluation experiments are conducted. The results indicate that the proposed operation torque and Force detection device is effective. Thus, it can provide the foundation for enabling accurate haptic feedback to the surgeon to improve surgical safety.

  • Study of the Operational Safety of a Vascular Interventional Surgical Robotic System
    MDPI AG, 2018
    Co-Authors: Jian Guo, Xiaoliang Jin, Shuxiang Guo
    Abstract:

    This paper proposes an operation safety early warning system based on LabView (2014, National Instruments Corporation, Austin, TX, USA) for vascular interventional surgery (VIS) robotic system. The system not only provides intuitive visual feedback information for the surgeon, but also has a safety early warning function. It is well known that blood vessels differ in their ability to withstand stress in different age groups, therefore, the operation safety early warning system based on LabView has a vascular safety threshold function that changes in real-time, which can be oriented to different age groups of patients and a broader applicable scope. In addition, the tracing performance of the slave manipulator to the master manipulator is also an important index for operation safety. Therefore, we also transformed the slave manipulator and integrated the displacement error compensation algorithm in order to improve the tracking ability of the slave manipulator to the master manipulator and reduce master–slave tracking errors. We performed experiments “in vitro” to validate the proposed system. According to previous studies, 0.12 N is the maximum Force when the blood vessel wall has been penetrated. Experimental results showed that the proposed operation safety early warning system based on LabView combined with Operating Force feedback can effectively avoid excessive collisions between the surgical catheter and vessel wall to avoid vascular puncture. The Force feedback error of the proposed system is maintained between ±20 mN, which is within the allowable safety range and meets our design requirements. Therefore, the proposed system can ensure the safety of surgery

  • a novel master slave robotic catheter system for vascular interventional surgery
    International Conference on Mechatronics and Automation, 2013
    Co-Authors: Shuxiang Guo, Peng Wang, Jian Guo, Wei Wei, Yunliang Wang
    Abstract:

    In minimally invasive surgery, the surgeons are exposed to X-ray, threatening the surgeons' health due to depositing long. It is important to find a method instead of using X-ray during Vascular Interventional Surgery (VIS). In this paper, a novel master-slave robotic catheter system for VIS has been proposed. The surgeons operate a real catheter on the master side, which can make full use of the natural catheter manipulation skills obtained in conventional catheter navigation. And the acquired Operating information can be transmitted into the master controller. The control information from the master controller can be sent into slave controller. According to the control information, the slave controller can control the slave manipulator to operate catheter insert into the blood vessel during VIS. The Operating Force of catheter by slave manipulator can be acquired into the slave controller and be sent to the master controller. A novel type of master manipulator we proposed is based on the principle of magnetorheological fluid. A piston structure filled with magnetorheological fluid can transmit the Force feedback to surgeon's hand through the Operating catheter from the control of master controller, which seems that the surgeon operates the catheter beside the patient. The communication method and control strategy of designed system have been used in our previous developed system. Theoretical analysis of the designed system was done. The analyzed results indicated that the proposed robotic catheter system was effective for vascular interventional surgery. It can provide Force feedback to surgeon in real time.

Yunliang Wang - One of the best experts on this subject based on the ideXlab platform.

  • Feedback Force evaluation for a novel robotic catheter navigation system
    2014 IEEE International Conference on Mechatronics and Automation, 2014
    Co-Authors: Peng Wang, Lin Shao, Yunliang Wang
    Abstract:

    In Vascular Interventional Surgery (VIS), the surgeons are exposed to X-ray threatening the surgeons' health due to the depositing which lasts long. It is significant to find a method to keep away from X-ray during VIS. In this paper, a novel master-slave robotic catheter system for VIS has been proposed. The surgeon operates a real catheter on the master side, which can make full use of the natural catheter manipulation experience and skills obtained in conventional catheter navigation. The feedback of catheter Operating Force on the master side plays an important role in improving the safety of the vascular surgery. In order to realize the Force feedback, a damper is used based on the intelligent fluid magnetorheological (MR) fluid. The damper is a piston structure with MR fluid. It can transmit the Force feedback to surgeon's hand through the Operating catheter from the control of master controller, which seems that the surgeon operates the catheter beside the patient. The feedback Force evaluation experiments of the damper were done. The experimental results indicated that the damper was effective for realizing the Force feedback of the master-slave system. It can provide Force feedback to the surgeon in real time.

  • a novel master slave robotic catheter system for vascular interventional surgery
    International Conference on Mechatronics and Automation, 2013
    Co-Authors: Shuxiang Guo, Peng Wang, Jian Guo, Wei Wei, Yunliang Wang
    Abstract:

    In minimally invasive surgery, the surgeons are exposed to X-ray, threatening the surgeons' health due to depositing long. It is important to find a method instead of using X-ray during Vascular Interventional Surgery (VIS). In this paper, a novel master-slave robotic catheter system for VIS has been proposed. The surgeons operate a real catheter on the master side, which can make full use of the natural catheter manipulation skills obtained in conventional catheter navigation. And the acquired Operating information can be transmitted into the master controller. The control information from the master controller can be sent into slave controller. According to the control information, the slave controller can control the slave manipulator to operate catheter insert into the blood vessel during VIS. The Operating Force of catheter by slave manipulator can be acquired into the slave controller and be sent to the master controller. A novel type of master manipulator we proposed is based on the principle of magnetorheological fluid. A piston structure filled with magnetorheological fluid can transmit the Force feedback to surgeon's hand through the Operating catheter from the control of master controller, which seems that the surgeon operates the catheter beside the patient. The communication method and control strategy of designed system have been used in our previous developed system. Theoretical analysis of the designed system was done. The analyzed results indicated that the proposed robotic catheter system was effective for vascular interventional surgery. It can provide Force feedback to surgeon in real time.

Peng Wang - One of the best experts on this subject based on the ideXlab platform.

  • design and performance evaluation of a novel robotic catheter system for vascular interventional surgery
    Microsystem Technologies-micro-and Nanosystems-information Storage and Processing Systems, 2016
    Co-Authors: Lin Shao, Peng Wang
    Abstract:

    Vascular interventional surgery (VIS) is an effective treatment method for vascular diseases. However, there are many problems in traditional VIS, such as surgeons are radiated by X-ray, the lack of well skilled surgeons, the security of the surgery will be reduced due to the Surgeons' fatigue, high risk of the surgery. To solve these problems, a robotic catheter system is needed to protect the surgeons and enhance the safety of the surgery. In this paper, a novel robotic catheter system with master---slave structure for VIS has been developed. This system is designed with the consideration of the operation method in traditional VIS, which allows the surgeon to operate a real catheter on the master side, then the surgeon make full use of the natural catheter manipulation experience and skills obtained in conventional catheter operation. The salve manipulator operates the catheter insert into the blood vessel with following the operation of the surgeon, and the Operating Force of the salve manipulator is detected. On the master side, a novel damper-based magnetorheological (MR) fluid is designed to realize the Force feedback, which is also used to reappear the operation Force from the salve manipulator. The damper connected directly with real catheter is a piston structure using the MR fluid to realize the Force feedback. It can transmit the feedback Force to surgeon's hand through the Operating catheter connected with damper, which seems that the surgeon operates the catheter beside the patient. The Operating transparency of the developed system has been enhanced. The mechanism of the developed system has been introduced in detail. Performance evaluation experiments for the developed robotic catheter system have been done. The experimental results indicated that the developed robotic catheter system is fit for VIS.

  • Feedback Force evaluation for a novel robotic catheter navigation system
    2014 IEEE International Conference on Mechatronics and Automation, 2014
    Co-Authors: Peng Wang, Lin Shao, Yunliang Wang
    Abstract:

    In Vascular Interventional Surgery (VIS), the surgeons are exposed to X-ray threatening the surgeons' health due to the depositing which lasts long. It is significant to find a method to keep away from X-ray during VIS. In this paper, a novel master-slave robotic catheter system for VIS has been proposed. The surgeon operates a real catheter on the master side, which can make full use of the natural catheter manipulation experience and skills obtained in conventional catheter navigation. The feedback of catheter Operating Force on the master side plays an important role in improving the safety of the vascular surgery. In order to realize the Force feedback, a damper is used based on the intelligent fluid magnetorheological (MR) fluid. The damper is a piston structure with MR fluid. It can transmit the Force feedback to surgeon's hand through the Operating catheter from the control of master controller, which seems that the surgeon operates the catheter beside the patient. The feedback Force evaluation experiments of the damper were done. The experimental results indicated that the damper was effective for realizing the Force feedback of the master-slave system. It can provide Force feedback to the surgeon in real time.

  • a novel master slave robotic catheter system for vascular interventional surgery
    International Conference on Mechatronics and Automation, 2013
    Co-Authors: Shuxiang Guo, Peng Wang, Jian Guo, Wei Wei, Yunliang Wang
    Abstract:

    In minimally invasive surgery, the surgeons are exposed to X-ray, threatening the surgeons' health due to depositing long. It is important to find a method instead of using X-ray during Vascular Interventional Surgery (VIS). In this paper, a novel master-slave robotic catheter system for VIS has been proposed. The surgeons operate a real catheter on the master side, which can make full use of the natural catheter manipulation skills obtained in conventional catheter navigation. And the acquired Operating information can be transmitted into the master controller. The control information from the master controller can be sent into slave controller. According to the control information, the slave controller can control the slave manipulator to operate catheter insert into the blood vessel during VIS. The Operating Force of catheter by slave manipulator can be acquired into the slave controller and be sent to the master controller. A novel type of master manipulator we proposed is based on the principle of magnetorheological fluid. A piston structure filled with magnetorheological fluid can transmit the Force feedback to surgeon's hand through the Operating catheter from the control of master controller, which seems that the surgeon operates the catheter beside the patient. The communication method and control strategy of designed system have been used in our previous developed system. Theoretical analysis of the designed system was done. The analyzed results indicated that the proposed robotic catheter system was effective for vascular interventional surgery. It can provide Force feedback to surgeon in real time.

Yuhua Jiang - One of the best experts on this subject based on the ideXlab platform.

  • Operating Force information on line acquisition of a novel slave manipulator for vascular interventional surgery
    Biomedical Microdevices, 2018
    Co-Authors: Yan Zhao, Shuxiang Guo, Nan Xiao, Yuxin Wang, Yuhua Jiang
    Abstract:

    Vascular interventional surgery has its advantages compared to traditional operation. Master-slave robotic technology can further improve the operation accuracy, efficiency and safety of this complicated and high risk surgery. However, on-line acquisition of Operating Force information of catheter and guidewire remains to be a significant obstacle on the path to enhancing robotic surgery safety. Thus, a novel slave manipulator is proposed in this paper to realize on-line sensing of guidewire torsional Operating torque and axial operation Force during robotic assisted operations. A strain sensor is specially designed to detect the small scale torsional operation torque with low rotational frequency. Additionally, the axial Operating Force is detected via a load cell, which is incorporated into a sliding mechanism to eliminate the influence of friction. For validation, calibration and performance evaluation experiments are conducted. The results indicate that the proposed operation torque and Force detection device is effective. Thus, it can provide the foundation for enabling accurate haptic feedback to the surgeon to improve surgical safety.

Yan Zhao - One of the best experts on this subject based on the ideXlab platform.

  • Operating Force information on line acquisition of a novel slave manipulator for vascular interventional surgery
    Biomedical Microdevices, 2018
    Co-Authors: Yan Zhao, Shuxiang Guo, Nan Xiao, Yuxin Wang, Yuhua Jiang
    Abstract:

    Vascular interventional surgery has its advantages compared to traditional operation. Master-slave robotic technology can further improve the operation accuracy, efficiency and safety of this complicated and high risk surgery. However, on-line acquisition of Operating Force information of catheter and guidewire remains to be a significant obstacle on the path to enhancing robotic surgery safety. Thus, a novel slave manipulator is proposed in this paper to realize on-line sensing of guidewire torsional Operating torque and axial operation Force during robotic assisted operations. A strain sensor is specially designed to detect the small scale torsional operation torque with low rotational frequency. Additionally, the axial Operating Force is detected via a load cell, which is incorporated into a sliding mechanism to eliminate the influence of friction. For validation, calibration and performance evaluation experiments are conducted. The results indicate that the proposed operation torque and Force detection device is effective. Thus, it can provide the foundation for enabling accurate haptic feedback to the surgeon to improve surgical safety.