TY - GEN
T1 - Vascular Environment Identification Based on Multi-dimensional Data Fusion for Interventional Surgical Robots
AU - Yang, Dong
AU - Wei, Wei
AU - Li, Jiaqian
AU - Xiao, Nan
N1 - Publisher Copyright:
© 2022 IEEE.
PY - 2022
Y1 - 2022
N2 - Vascular interventional surgery is the most commonly used method for the treatment of cardio-vascular and cerebrovascular diseases. Master-slave interventional surgical robot is a promising technology, which can further improve the accuracy and safety of surgery. However, imperfect measurement of catheter force remains a surgical risk. Inspired by the function of insect antennae, a thin-film force sensing device was installed in the catheter head. Combined with the pressure sensor in the catheter clamping device, the LSTM network was used to predict and classify the curvature of the current passing vessel, and the recognition accuracy was 97%. In the process of robotic surgery, real-time feedback of current pressure information and vascular curvature information can enhance the doctor's judgment of the operation state and improve the safety of surgery.
AB - Vascular interventional surgery is the most commonly used method for the treatment of cardio-vascular and cerebrovascular diseases. Master-slave interventional surgical robot is a promising technology, which can further improve the accuracy and safety of surgery. However, imperfect measurement of catheter force remains a surgical risk. Inspired by the function of insect antennae, a thin-film force sensing device was installed in the catheter head. Combined with the pressure sensor in the catheter clamping device, the LSTM network was used to predict and classify the curvature of the current passing vessel, and the recognition accuracy was 97%. In the process of robotic surgery, real-time feedback of current pressure information and vascular curvature information can enhance the doctor's judgment of the operation state and improve the safety of surgery.
KW - LSTM classification
KW - force detection
KW - robot-assisted surgery
KW - vascular interventional surgical robot
UR - https://www.scopus.com/pages/publications/85147323678
U2 - 10.1109/ROBIO55434.2022.10011932
DO - 10.1109/ROBIO55434.2022.10011932
M3 - Conference contribution
AN - SCOPUS:85147323678
T3 - 2022 IEEE International Conference on Robotics and Biomimetics, ROBIO 2022
SP - 1738
EP - 1744
BT - 2022 IEEE International Conference on Robotics and Biomimetics, ROBIO 2022
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2022 IEEE International Conference on Robotics and Biomimetics, ROBIO 2022
Y2 - 5 December 2022 through 9 December 2022
ER -