The Experts below are selected from a list of 492 Experts worldwide ranked by ideXlab platform
Robert D Howe - One of the best experts on this subject based on the ideXlab platform.
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1 Robotic Catheter Cardiac Ablation Combining Ultrasound Guidance and Force Control
2015Co-Authors: Samuel B. Kesner, Robert D HoweAbstract:Abstract Cardiac Catheters allow physicians to access the inside of the heart and perform therapeutic interventions without stopping the heart or opening the chest. However, conventional manual and actuated cardiac Catheters are currently unable to precisely track and manipulate the intracardiac tissue structures because of the fast tissue motion and potential for applying damaging forces. This paper addresses these challenges by proposing and implementing a Robotic Catheter System that use 3D ultrasound image guidance and force control to enable constant contact with a moving target surface in order to perform interventional procedures, such as intracardiac tissue ablation. The Robotic Catheter System, consisting of a Catheter module, ablation and force sensing end effector, drive System, and image-guidance and control System, was commanded to apply a constant force against a moving target using a position-modulated force control method. The control System uses a combination of position tracking, force feedback, and friction and backlash compensation to achieve accurate and safe Catheter-tissue interactions. The Catheter was able to maintain a 1 N force on a moving motion simulator target under ultrasound guidance with 0.08 N RMS error. In a simulated ablation experiment, the Robotic Catheter was also able to apply a consistent force on the target whil
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Design Principles for Rapid Prototyping Forces Sensors Using 3-D Printing
2015Co-Authors: Samuel B. Kesner, Robert D HoweAbstract:Abstract—Force sensors provide critical information about robot manip-ulators, manufacturing processes, and haptic interfaces. Commercial force sensors, however, are generally not adapted to specific System requirements, resulting in sensors with excess size, cost, and fragility. To overcome these issues, 3-D printers can be used to create components for the quick and inexpensive development of force sensors. Limitations of this rapid proto-typing technology, however, require specialized design principles. In this paper, we discuss techniques for rapidly developing simple force sensors, including selecting and attaching metal flexures, using inexpensive and sim-ple displacement transducers, and 3-D printing features to aid in assembly. These design methods are illustrated through the design and fabrication of a miniature force sensor for the tip of a Robotic Catheter System. The resulting force sensor prototype can measure forces with an accuracy of as low as 2 % of the 10 N measurement range. Index Terms—Force sensors, rapid prototyping, sensor design. I
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position control of motion compensation cardiac Catheters
International Conference on Robotics and Automation, 2011Co-Authors: Samuel B. Kesner, Robert D HoweAbstract:Robotic Catheters have the potential to revolutionize cardiac surgery by enabling minimally invasive structural repairs within the beating heart. This paper presents an actuated Catheter System that compensates for the fast motion of cardiac tissue using 3-D ultrasound image guidance. We describe the design and operation of the mechanical drive System and Catheter module and analyze the Catheter performance limitations of friction and backlash in detail. To mitigate these limitations, we propose and evaluate mechanical and control-System compensation methods, which include inverse and model-based backlash compensation, to improve the System performance. Finally, in vivo results are presented, which demonstrate that the Catheter can track the cardiac tissue motion with less than 1-mm rms error. The ultimate goal of this research is to create a fast and dexterous Robotic Catheter System that can perform surgery on the delicate structures inside of the beating heart.
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Design Principles for Rapid Prototyping Forces Sensors using 3D Printing.
IEEE ASME transactions on mechatronics : a joint publication of the IEEE Industrial Electronics Society and the ASME Dynamic Systems and Control Divis, 2011Co-Authors: Samuel B. Kesner, Robert D HoweAbstract:Force sensors provide critical information for robot manipulators, manufacturing processes, and haptic interfaces. Commercial force sensors, however, are generally not adapted to specific System requirements, resulting in sensors with excess size, cost, and fragility. To overcome these issues, 3D printers can be used to create components for the quick and inexpensive development of force sensors. Limitations of this rapid prototyping technology, however, require specialized design principles. In this paper, we discuss techniques for rapidly developing simple force sensors, including selecting and attaching metal flexures, using inexpensive and simple displacement transducers, and 3D printing features to aid in assembly. These design methods are illustrated through the design and fabrication of a miniature force sensor for the tip of a Robotic Catheter System. The resulting force sensor prototype can measure forces with an accuracy of as low as 2% of the 10 N measurement range.
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ultrasound servoing of Catheters for beating heart valve repair
International Conference Information Processing, 2010Co-Authors: Samuel B. Kesner, Shelten G Yuen, Robert D HoweAbstract:Robotic cardiac Catheters have the potential to revolutionize heart surgery by extending minimally invasive techniques to complex surgical repairs inside the heart. However, Catheter technologies are currently unable to track fast tissue motion, which is required to perform delicate procedures inside a beating heart. This paper presents an actuated Catheter tool that compensates for the motion of heart structures like the mitral valve apparatus by servoing a Catheter guidewire inside a flexible sheath. We examine design and operation parameters and establish that friction and backlash limit the tracking performance of the Catheter System. Based on the results of these experiments, we implement compensation methods to improve trajectory tracking. The Catheter System is then integrated with an ultrasound-based visual servoing System to enable fast tissue tracking. In vivo tests show RMS tracking errors of 0.77 mm for following the porcine mitral valve annulus trajectory. The results demonstrate that an ultrasound-guided Robotic Catheter System can accurately track the fast motion of the mitral valve.
Samuel B. Kesner - One of the best experts on this subject based on the ideXlab platform.
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1 Robotic Catheter Cardiac Ablation Combining Ultrasound Guidance and Force Control
2015Co-Authors: Samuel B. Kesner, Robert D HoweAbstract:Abstract Cardiac Catheters allow physicians to access the inside of the heart and perform therapeutic interventions without stopping the heart or opening the chest. However, conventional manual and actuated cardiac Catheters are currently unable to precisely track and manipulate the intracardiac tissue structures because of the fast tissue motion and potential for applying damaging forces. This paper addresses these challenges by proposing and implementing a Robotic Catheter System that use 3D ultrasound image guidance and force control to enable constant contact with a moving target surface in order to perform interventional procedures, such as intracardiac tissue ablation. The Robotic Catheter System, consisting of a Catheter module, ablation and force sensing end effector, drive System, and image-guidance and control System, was commanded to apply a constant force against a moving target using a position-modulated force control method. The control System uses a combination of position tracking, force feedback, and friction and backlash compensation to achieve accurate and safe Catheter-tissue interactions. The Catheter was able to maintain a 1 N force on a moving motion simulator target under ultrasound guidance with 0.08 N RMS error. In a simulated ablation experiment, the Robotic Catheter was also able to apply a consistent force on the target whil
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Design Principles for Rapid Prototyping Forces Sensors Using 3-D Printing
2015Co-Authors: Samuel B. Kesner, Robert D HoweAbstract:Abstract—Force sensors provide critical information about robot manip-ulators, manufacturing processes, and haptic interfaces. Commercial force sensors, however, are generally not adapted to specific System requirements, resulting in sensors with excess size, cost, and fragility. To overcome these issues, 3-D printers can be used to create components for the quick and inexpensive development of force sensors. Limitations of this rapid proto-typing technology, however, require specialized design principles. In this paper, we discuss techniques for rapidly developing simple force sensors, including selecting and attaching metal flexures, using inexpensive and sim-ple displacement transducers, and 3-D printing features to aid in assembly. These design methods are illustrated through the design and fabrication of a miniature force sensor for the tip of a Robotic Catheter System. The resulting force sensor prototype can measure forces with an accuracy of as low as 2 % of the 10 N measurement range. Index Terms—Force sensors, rapid prototyping, sensor design. I
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position control of motion compensation cardiac Catheters
International Conference on Robotics and Automation, 2011Co-Authors: Samuel B. Kesner, Robert D HoweAbstract:Robotic Catheters have the potential to revolutionize cardiac surgery by enabling minimally invasive structural repairs within the beating heart. This paper presents an actuated Catheter System that compensates for the fast motion of cardiac tissue using 3-D ultrasound image guidance. We describe the design and operation of the mechanical drive System and Catheter module and analyze the Catheter performance limitations of friction and backlash in detail. To mitigate these limitations, we propose and evaluate mechanical and control-System compensation methods, which include inverse and model-based backlash compensation, to improve the System performance. Finally, in vivo results are presented, which demonstrate that the Catheter can track the cardiac tissue motion with less than 1-mm rms error. The ultimate goal of this research is to create a fast and dexterous Robotic Catheter System that can perform surgery on the delicate structures inside of the beating heart.
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Design Principles for Rapid Prototyping Forces Sensors using 3D Printing.
IEEE ASME transactions on mechatronics : a joint publication of the IEEE Industrial Electronics Society and the ASME Dynamic Systems and Control Divis, 2011Co-Authors: Samuel B. Kesner, Robert D HoweAbstract:Force sensors provide critical information for robot manipulators, manufacturing processes, and haptic interfaces. Commercial force sensors, however, are generally not adapted to specific System requirements, resulting in sensors with excess size, cost, and fragility. To overcome these issues, 3D printers can be used to create components for the quick and inexpensive development of force sensors. Limitations of this rapid prototyping technology, however, require specialized design principles. In this paper, we discuss techniques for rapidly developing simple force sensors, including selecting and attaching metal flexures, using inexpensive and simple displacement transducers, and 3D printing features to aid in assembly. These design methods are illustrated through the design and fabrication of a miniature force sensor for the tip of a Robotic Catheter System. The resulting force sensor prototype can measure forces with an accuracy of as low as 2% of the 10 N measurement range.
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ultrasound servoing of Catheters for beating heart valve repair
International Conference Information Processing, 2010Co-Authors: Samuel B. Kesner, Shelten G Yuen, Robert D HoweAbstract:Robotic cardiac Catheters have the potential to revolutionize heart surgery by extending minimally invasive techniques to complex surgical repairs inside the heart. However, Catheter technologies are currently unable to track fast tissue motion, which is required to perform delicate procedures inside a beating heart. This paper presents an actuated Catheter tool that compensates for the motion of heart structures like the mitral valve apparatus by servoing a Catheter guidewire inside a flexible sheath. We examine design and operation parameters and establish that friction and backlash limit the tracking performance of the Catheter System. Based on the results of these experiments, we implement compensation methods to improve trajectory tracking. The Catheter System is then integrated with an ultrasound-based visual servoing System to enable fast tissue tracking. In vivo tests show RMS tracking errors of 0.77 mm for following the porcine mitral valve annulus trajectory. The results demonstrate that an ultrasound-guided Robotic Catheter System can accurately track the fast motion of the mitral valve.
Nan Xiao - One of the best experts on this subject based on the ideXlab platform.
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Simulation of the virtual reality based Robotic Catheter System
2013 ICME International Conference on Complex Medical Engineering, 2013Co-Authors: Kangqi Hu, Nan Xiao, Yuan WangAbstract:Minimally Invasive Surgery (MIS) is a specialized surgical technique that permits vascular interventions through very small incisions and minimizes the patient's trauma and permits a faster recovery compared to traditional surgery. Telemedicine is one area where remotely controlled robots can have a major impact by providing urgent care at remote sites. However, the significant disadvantage of this surgery technique is complexity and it requires extensive training before surgery. The unavailability of force and tactile feedback the operator must determine the required action by visually examining the remote site and therefore limiting the tasks. In this paper, we present virtual reality simulators for training with force feedback in minimally invasive surgery which allows generating realistic physical-based model of Catheter and blood vessels, and enables surgeons to touch, feel and manipulate virtual Catheter inside vascular model through the same surgical operation mode used in actual MIS. In this paper, the design of the MIS VR System and initial experimental results are presented and the experimental results show that the error rate is in an acceptable range and the simulators can be used for surgery training.
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development of force sensing Systems for a novel Robotic Catheter System
Robotics and Biomimetics, 2012Co-Authors: Jian Guo, Shuxiang Guo, Nan Xiao, Yunliang WangAbstract:Force feedback plays a significant role in robot-assisted Catheter System. How to realize the force feedback? How to transmit the force feedback to the experiences of skilled surgeons? Certainly, it is the force sensing System. In this paper, two kinds of force sensing Systems for the Robotic Catheter System have been proposed and developed, we did the experiments to evaluate the performances of the developed force sensing Systems, the experimental results indicated that the developed force sensing Systems for the Robotic Catheter training System are effective, they are suitable for the Robotic Catheter System. They can be used to realize the force feedback during endovascular neurosurgery, furthermore, they can be used to extract the operating skills of experienced neurosurgeons to train unskilled neurosurgeons and medical students by using the Robotic Catheter System.
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design of the virtual reality based Robotic Catheter System for minimally invasive surgery training
International Conference on Automation and Logistics, 2012Co-Authors: Baofeng Gao, Shuxiang Guo, Nan Xiao, Jin GuoAbstract:Minimally Invasive Surgery (MIS) is a specialized surgical technique that permits vascular interventions through very small incisions. This minimizes the patients' trauma and permits a faster recovery compared to traditional surgery. However, the significant disadvantage of this surgery technique is its complexity; therefore, it requires extensive training before surgery. In this paper, for the VR System, we use the master side as the controller, and we use the open source code DCMTK to read the information of “.DCM” file and carry out the CT image segmentation for the Virtual Reality based Robotic Catheter System and we use Open Scene Graph (OSG) to realize the 3D image output and Catheter control of the Virtual Reality System. We present virtual reality simulators for training with force feedback in minimally invasive surgery. This application allows generating realistic physical-based model of Catheter and blood vessels, and enables surgeons to touch, feel and manipulate virtual Catheter inside vascular model through the same surgical operation mode used in actual MIS. The experimental results show that the error rate is in an acceptable range and the simulators can be used for surgery training.
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A Robotic Catheter System with real-time force feedback and monitor
Australasian Physical & Engineering Sciences in Medicine, 2012Co-Authors: Nan Xiao, Shuxiang Guo, Jian Guo, Takashi TamiyaAbstract:This paper presents a Robotic Catheter System with force sensors, monitor and a master–slave remote control System. We developed micro force sensors and applied them in the System to guarantee the operation safety in intravascular neurosurgery applications, and employed a camera to monitor the operation. Two kinds of force information are obtained through force sensors when the Catheter contacted the blood vessel. The experiment shows that the proposed force sensors-based Catheter System works well through force feedback and remote control. The System can facilitates the operation and avoid potential damages.
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Construction of 3D vessel model of the VR Robotic Catheter System
2012 IEEE International Conference on Information and Automation, 2012Co-Authors: Nan Xiao, Xufeng Xiao, Shu Yang, Mohan QuAbstract:Minimally Invasive Surgery (Minimally Invasive Surgery, MIS) is a specialized surgical technique that permits vascular interventions through very small incisions and minimizes the patients' trauma and permits a faster recovery compared to traditional surgery. In this paper, we will introduce a kind of Virtual Reality based Robotic Catheter System which can be used for the training of the interns to do the operation. First of all, we design the robot assisted Catheter surgery System which is consist of master controller System and the Catheter manipulator placed at the patient side. For the VR System, we use the master side as the controller, and we developed the Virtual Reality based Robotic Catheter System, in the System, open source code DCMTK is used to read the information of “DCM” file and carry out the CT image segmentation and Open Scene Graph (OSG) is used to realize the 3D image output and Catheter control of the Virtual Reality System. Finally, we complete the simulation of Catheter control by the Virtual Reality based Robotic Catheter System.
Shuxiang Guo - One of the best experts on this subject based on the ideXlab platform.
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Rotary Encoder-based Position Transmission and Feedback of a Novel Robotic Catheter System for Endovascular Catheterization
2018 IEEE International Conference on Information and Automation (ICIA), 2018Co-Authors: Linshuai Zhang, Huadong Yu, Yu Song, Shuxiang Guo, Dapeng SongAbstract:Robotic Catheter Systems can obviously reduce the radiation exposure to the surgeon and lessen the fatigue caused by standing for a long time in protective clothing. However, few designs have taken the ergonomic design and convenience of operation into consideration. This paper presents a Robotic Catheter System based on the pinion and rack mechanism with two rotary encoders. The two rotary encoders are used to transmit and feedback the motion information in the axial and radial directions, respectively. A valuable contribution is that surgeons can operate the master manipulator like operating a Catheter in traditional surgery. This can make the operator have a telepresence, thus reducing the physical stress during Catheter intervention. Performance evaluation of quantifying accuracy was assessed by bilateral control experiments in axial and radial motion. The results show the System has the ability to sense motion to within 1 mm and 2° in the axial and radial directions, respectively. Therefore, the presented Robotic Catheter System provides important insights into the development of safe and high-precision Robotic Catheter Systems incorporating ergonomic and convenience design for endovascular Catheterization.
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kinematics analysis of the Catheter for a novel vr Robotic Catheter System
International Conference on Mechatronics and Automation, 2014Co-Authors: Jian Guo, Shuxiang Guo, Yue Gao, Wenxuan Zhang, Yunliang WangAbstract:Compared to traditional surgery, MIS (minimally invasive surgery) as a specialized surgical technique has attracted more attention for its small incisions can minimize the trauma of patients and shorten the recovery time. Because of the complexity of the interventional surgery, the surgeon must be trained a lot to improve operation skills. In this paper, we will introduce a virtual reality Robotic Catheter System which can be used to train the interns to complete the operation. The virtual environment, including Catheter model and vascular model, is established using 3 DS MAX 2012 software. PHANTOM premium 1.5 as the master side has been applied to control the movement of the Catheter model in the virtual environment. During the real process of MIS, the Catheter can realize radial movement and axial rotation. The position information obtained from the handle of the haptic device is chosen as the control variable to control the movement of the Catheter in the virtual environment on two degrees of freedom. And we analyze the kinematics of the two degrees of freedom of the Catheter. A proportional relationship between the control variable and the movement of the Catheter is established. The experimental results prove that the traceability of the virtual reality System is high. That ensures the reliability and accuracy of the virtual interventional surgery. Index Terms – MIS (minimally invasive surgery), Virtual reality, Robotic Catheter System, Kinematics.
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a novel master slave Robotic Catheter System for vascular interventional surgery
International Conference on Mechatronics and Automation, 2013Co-Authors: Shuxiang Guo, Peng Wang, Jian Guo, Wei Wei, Yunliang WangAbstract: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.
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development of force sensing Systems for a novel Robotic Catheter System
Robotics and Biomimetics, 2012Co-Authors: Jian Guo, Shuxiang Guo, Nan Xiao, Yunliang WangAbstract:Force feedback plays a significant role in robot-assisted Catheter System. How to realize the force feedback? How to transmit the force feedback to the experiences of skilled surgeons? Certainly, it is the force sensing System. In this paper, two kinds of force sensing Systems for the Robotic Catheter System have been proposed and developed, we did the experiments to evaluate the performances of the developed force sensing Systems, the experimental results indicated that the developed force sensing Systems for the Robotic Catheter training System are effective, they are suitable for the Robotic Catheter System. They can be used to realize the force feedback during endovascular neurosurgery, furthermore, they can be used to extract the operating skills of experienced neurosurgeons to train unskilled neurosurgeons and medical students by using the Robotic Catheter System.
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design of the virtual reality based Robotic Catheter System for minimally invasive surgery training
International Conference on Automation and Logistics, 2012Co-Authors: Baofeng Gao, Shuxiang Guo, Nan Xiao, Jin GuoAbstract:Minimally Invasive Surgery (MIS) is a specialized surgical technique that permits vascular interventions through very small incisions. This minimizes the patients' trauma and permits a faster recovery compared to traditional surgery. However, the significant disadvantage of this surgery technique is its complexity; therefore, it requires extensive training before surgery. In this paper, for the VR System, we use the master side as the controller, and we use the open source code DCMTK to read the information of “.DCM” file and carry out the CT image segmentation for the Virtual Reality based Robotic Catheter System and we use Open Scene Graph (OSG) to realize the 3D image output and Catheter control of the Virtual Reality System. We present virtual reality simulators for training with force feedback in minimally invasive surgery. This application allows generating realistic physical-based model of Catheter and blood vessels, and enables surgeons to touch, feel and manipulate virtual Catheter inside vascular model through the same surgical operation mode used in actual MIS. The experimental results show that the error rate is in an acceptable range and the simulators can be used for surgery training.
Yunliang Wang - One of the best experts on this subject based on the ideXlab platform.
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kinematics analysis of the Catheter for a novel vr Robotic Catheter System
International Conference on Mechatronics and Automation, 2014Co-Authors: Jian Guo, Shuxiang Guo, Yue Gao, Wenxuan Zhang, Yunliang WangAbstract:Compared to traditional surgery, MIS (minimally invasive surgery) as a specialized surgical technique has attracted more attention for its small incisions can minimize the trauma of patients and shorten the recovery time. Because of the complexity of the interventional surgery, the surgeon must be trained a lot to improve operation skills. In this paper, we will introduce a virtual reality Robotic Catheter System which can be used to train the interns to complete the operation. The virtual environment, including Catheter model and vascular model, is established using 3 DS MAX 2012 software. PHANTOM premium 1.5 as the master side has been applied to control the movement of the Catheter model in the virtual environment. During the real process of MIS, the Catheter can realize radial movement and axial rotation. The position information obtained from the handle of the haptic device is chosen as the control variable to control the movement of the Catheter in the virtual environment on two degrees of freedom. And we analyze the kinematics of the two degrees of freedom of the Catheter. A proportional relationship between the control variable and the movement of the Catheter is established. The experimental results prove that the traceability of the virtual reality System is high. That ensures the reliability and accuracy of the virtual interventional surgery. Index Terms – MIS (minimally invasive surgery), Virtual reality, Robotic Catheter System, Kinematics.
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Feedback force evaluation for a novel Robotic Catheter navigation System
2014 IEEE International Conference on Mechatronics and Automation, 2014Co-Authors: Peng Wang, Lin Shao, Yunliang WangAbstract: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.
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a novel master slave Robotic Catheter System for vascular interventional surgery
International Conference on Mechatronics and Automation, 2013Co-Authors: Shuxiang Guo, Peng Wang, Jian Guo, Wei Wei, Yunliang WangAbstract: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.
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development of force sensing Systems for a novel Robotic Catheter System
Robotics and Biomimetics, 2012Co-Authors: Jian Guo, Shuxiang Guo, Nan Xiao, Yunliang WangAbstract:Force feedback plays a significant role in robot-assisted Catheter System. How to realize the force feedback? How to transmit the force feedback to the experiences of skilled surgeons? Certainly, it is the force sensing System. In this paper, two kinds of force sensing Systems for the Robotic Catheter System have been proposed and developed, we did the experiments to evaluate the performances of the developed force sensing Systems, the experimental results indicated that the developed force sensing Systems for the Robotic Catheter training System are effective, they are suitable for the Robotic Catheter System. They can be used to realize the force feedback during endovascular neurosurgery, furthermore, they can be used to extract the operating skills of experienced neurosurgeons to train unskilled neurosurgeons and medical students by using the Robotic Catheter System.
