TY - JOUR
T1 - A vascular interventional surgical robot based on surgeon’s operating skills
AU - Yang, Cheng
AU - Guo, Shuxiang
AU - Bao, Xianqiang
AU - Xiao, Nan
AU - Shi, Liwei
AU - Li, Youxiang
AU - Jiang, Yuhua
N1 - Publisher Copyright:
© 2019, International Federation for Medical and Biological Engineering.
PY - 2019/9/1
Y1 - 2019/9/1
N2 - 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.]
AB - 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.]
KW - Master-slave control system
KW - Robot-assisted surgery
KW - Vascular interventional surgery
KW - “In vivo” experiment
UR - http://www.scopus.com/inward/record.url?scp=85069682245&partnerID=8YFLogxK
U2 - 10.1007/s11517-019-02016-8
DO - 10.1007/s11517-019-02016-8
M3 - Article
AN - SCOPUS:85069682245
SN - 0140-0118
VL - 57
SP - 1999
EP - 2010
JO - Medical and Biological Engineering and Computing
JF - Medical and Biological Engineering and Computing
IS - 9
ER -