TY - GEN
T1 - A novel sensing system of catheter/guidewire operation for vascular interventional surgery
AU - Zhao, Yan
AU - Guo, Shuxiang
AU - Xiao, Nan
AU - Wang, Yuxin
AU - Zhang, Chaonan
AU - Bao, Xianqiang
AU - Wu, Jiaqing
N1 - Publisher Copyright:
© 2017 IEEE.
PY - 2017/8/23
Y1 - 2017/8/23
N2 - Recently, robotics and computing technology plays an increasing important role in the evolution of modern vascular interventional surgery (VIS). During operation procedure, thrust force and torque that surgeon applied to catheter is one of the most significant information for statistical analysis of surgery procedure and robotic assisting surgery system. Online precision detection of catheter thrust force and torque with minimized interference to surgeon is a critical issue. A novel sensing device is proposed to detect catheter operation force during surgery operation. Based on strain gauge principle and elegant structure design of elastic component, the proposed sensing device achieves trust force detection and torque detection simultaneously with a compact structure. The experimental equipment is developed for calibration and evaluation of the proposed sensing device. It can be seen from experimental results that the maximum torque and force detecting error of designed force/torque sensing device are 3.2 mN·m and 1.237N respectively. The maximum relative torque and force detecting error are 15.238% and 14.56%. The average error of torque and force detecting are 0.455mN·m and 0.0278N. The average relation error of torque and force detection are 2.13% and 0.327% respectively. The root-mean-square error of torque and force detection are 0.164mN.m and 0.267N. It indicates that the proposed catheter operation force detection device is rational.
AB - Recently, robotics and computing technology plays an increasing important role in the evolution of modern vascular interventional surgery (VIS). During operation procedure, thrust force and torque that surgeon applied to catheter is one of the most significant information for statistical analysis of surgery procedure and robotic assisting surgery system. Online precision detection of catheter thrust force and torque with minimized interference to surgeon is a critical issue. A novel sensing device is proposed to detect catheter operation force during surgery operation. Based on strain gauge principle and elegant structure design of elastic component, the proposed sensing device achieves trust force detection and torque detection simultaneously with a compact structure. The experimental equipment is developed for calibration and evaluation of the proposed sensing device. It can be seen from experimental results that the maximum torque and force detecting error of designed force/torque sensing device are 3.2 mN·m and 1.237N respectively. The maximum relative torque and force detecting error are 15.238% and 14.56%. The average error of torque and force detecting are 0.455mN·m and 0.0278N. The average relation error of torque and force detection are 2.13% and 0.327% respectively. The root-mean-square error of torque and force detection are 0.164mN.m and 0.267N. It indicates that the proposed catheter operation force detection device is rational.
KW - Force sensing device
KW - Operation sample acquisition
KW - Surgery robot navigation
KW - Vascular interventional surgery
UR - http://www.scopus.com/inward/record.url?scp=85030326203&partnerID=8YFLogxK
U2 - 10.1109/ICMA.2017.8015853
DO - 10.1109/ICMA.2017.8015853
M3 - Conference contribution
AN - SCOPUS:85030326203
T3 - 2017 IEEE International Conference on Mechatronics and Automation, ICMA 2017
SP - 416
EP - 421
BT - 2017 IEEE International Conference on Mechatronics and Automation, ICMA 2017
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 14th IEEE International Conference on Mechatronics and Automation, ICMA 2017
Y2 - 6 August 2017 through 9 August 2017
ER -