Direct Measurement Vascular Interventional Surgery Force Feedback Sensor Model Based on Active Bending of the Guidewire

Xingyu Liang, Haoyang Liu, Nan Xiao*

*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

Abstract

This paper presents a direct-measurement force feedback sensor model for vascular interventional surgery based on active bending of the guidewire. The model addresses the need for accurate force sensing information in minimally invasive vascular robotic surgery. The model achieves the measurement of axial proximal resistance through direct contact between the guidewire and the sensor, thus circumventing the issue of lower measurement accuracy due to resistance transmission loss caused by the complex mechanical mechanism. Furthermore, it addresses the challenging problem of acquiring proximal resistance by the delivery mechanism that is not rigidly connected to the guidewire. This paper derives the mathematical expression between the axial proximal force of the guidewire and the radial force of the guidewire in the preloading section and verifies its accuracy through simulation experiments. Furthermore, the range change of the sensor under different specifications of guidewire is analyzed, and the results demonstrate that the model has the advantages of high accuracy, high efficiency, and a simple structure, which has significant clinical application value.

Original languageEnglish
Title of host publicationICARM 2024 - 2024 9th IEEE International Conference on Advanced Robotics and Mechatronics
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages709-714
Number of pages6
ISBN (Electronic)9798350385724
DOIs
Publication statusPublished - 2024
Event9th IEEE International Conference on Advanced Robotics and Mechatronics, ICARM 2024 - Tokyo, Japan
Duration: 8 Jul 202410 Jul 2024

Publication series

NameICARM 2024 - 2024 9th IEEE International Conference on Advanced Robotics and Mechatronics

Conference

Conference9th IEEE International Conference on Advanced Robotics and Mechatronics, ICARM 2024
Country/TerritoryJapan
CityTokyo
Period8/07/2410/07/24

Keywords

  • active bending
  • Direct measurement
  • force feedback
  • mechanical model

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Liang, X., Liu, H., & Xiao, N. (2024). Direct Measurement Vascular Interventional Surgery Force Feedback Sensor Model Based on Active Bending of the Guidewire. In ICARM 2024 - 2024 9th IEEE International Conference on Advanced Robotics and Mechatronics (pp. 709-714). (ICARM 2024 - 2024 9th IEEE International Conference on Advanced Robotics and Mechatronics). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICARM62033.2024.10715758