TY - GEN
T1 - Toward cooperation of catheter and guidewire for remote-controlled vascular interventional robot
AU - Bao, Xianqiang
AU - Guo, Shuxiang
AU - Xiao, Nan
AU - Zhao, Yan
AU - Zhang, Chaonan
AU - Yang, Cheng
AU - Shen, Rui
N1 - Publisher Copyright:
© 2017 IEEE.
PY - 2017/8/23
Y1 - 2017/8/23
N2 - Remote-controlled vascular interventional surgery robots (RVIR) are being developed to reduce the occupational risk of the intervening physician, such as radiation, chronic neck and back pain, and increase accuracy and stability of surgery operation. Moreover, some successful RVIR are used to operate catheter or guidewire accurately. However, catheter and guidewire are operated respectively by intervening physician during surgery, because the support of catheter and the navigation of guidewire are necessary when guidewire passes through the vessel, especially the narrow vessel branch. Therefore, lacking of cooperation of catheter and guidewire is a great challenge for complete or complex surgery. In this paper, a cooperation of catheter and guidewire concept is firstly introduced in RVIR. The prototype operates catheter and guidewire respectively and accurately. The experimental results show that: the average error of the axial motion is 0.33mm, and the maximum error of the axial motion is 1.42mm. The RVIR, effectively realize the cooperation of catheter and guidewire, is feasible for minimally invasive surgery.
AB - Remote-controlled vascular interventional surgery robots (RVIR) are being developed to reduce the occupational risk of the intervening physician, such as radiation, chronic neck and back pain, and increase accuracy and stability of surgery operation. Moreover, some successful RVIR are used to operate catheter or guidewire accurately. However, catheter and guidewire are operated respectively by intervening physician during surgery, because the support of catheter and the navigation of guidewire are necessary when guidewire passes through the vessel, especially the narrow vessel branch. Therefore, lacking of cooperation of catheter and guidewire is a great challenge for complete or complex surgery. In this paper, a cooperation of catheter and guidewire concept is firstly introduced in RVIR. The prototype operates catheter and guidewire respectively and accurately. The experimental results show that: the average error of the axial motion is 0.33mm, and the maximum error of the axial motion is 1.42mm. The RVIR, effectively realize the cooperation of catheter and guidewire, is feasible for minimally invasive surgery.
KW - Cooperation of catheter and guidewire
KW - Minimally invasive surgery
KW - Remote-controlled vascular interventional surgery robot (RVIR)
UR - http://www.scopus.com/inward/record.url?scp=85030323710&partnerID=8YFLogxK
U2 - 10.1109/ICMA.2017.8015854
DO - 10.1109/ICMA.2017.8015854
M3 - Conference contribution
AN - SCOPUS:85030323710
T3 - 2017 IEEE International Conference on Mechatronics and Automation, ICMA 2017
SP - 422
EP - 426
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 -