A vascular interventional surgical robot based on surgeon’s operating skills

Cheng Yang, Shuxiang Guo*, Xianqiang Bao, Nan Xiao, Liwei Shi, Youxiang Li, Yuhua Jiang

*Corresponding author for this work

Research output: Contribution to journalArticlepeer-review

61 Citations (Scopus)

Abstract

Interventional surgery is widely used in the treatment of cardiovascular and cerebrovascular diseases, and the development of surgical robots can greatly reduce the fatigue and radiation risks brought to surgeons during surgery. In this paper, we present a novel interventional surgical robot which allows surgeons to fully use their operating skills during remote control. Fuzzy control theory is used to guarantee control precision during the master-slave operation. The safety force feedback control is designed based on the catheter and guidewire spring model, and the force-position control is designed to decrease the potential damage due to the control delay. This study first evaluates the force-position control strategy using a vascular model experiment, and then an in vivo experiment is used to evaluate the precision of the surgical robot controlling the catheter and guidewire to the designated position. The in vivo experiment results and surgeon’s feedback demonstrate that the proposed surgical robot is able to perform complex remote surgery in clinical application. [Figure not available: see fulltext.]

Original languageEnglish
Pages (from-to)1999-2010
Number of pages12
JournalMedical and Biological Engineering and Computing
Volume57
Issue number9
DOIs
Publication statusPublished - 1 Sept 2019

Keywords

  • Master-slave control system
  • Robot-assisted surgery
  • Vascular interventional surgery
  • “In vivo” experiment

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