Development of a novel robot-assisted catheter system with force feedback

Xu Ma; Shuxiang Guo; Nan Xiao; Jian Guo; Shunichi Yoshida; Takashi Tamiya; Masahiko Kawanishi

doi:10.1109/ICMA.2011.5985640

Development of a novel robot-assisted catheter system with force feedback

Xu Ma^*, Shuxiang Guo, Nan Xiao, Jian Guo, Shunichi Yoshida, Takashi Tamiya, Masahiko Kawanishi

^*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

12 Citations (Scopus)

Abstract

Manual operation of intracardiac steerable catheter is inaccurate, requires dexterity for efficient manipulation of the catheter, and exposes the surgeons to intense radiation. This paper presents a robot-assisted catheter manipulation system with force feedback, monitor and a master-slave tele-operation system. We developed the mechanical system and applied it in the slave side to guarantee the manipulation safety in intravascular neurosurgery applications. The force information can be obtained from the load cell. When the catheter contacted to the vascular, the surgeon can feel the force feedback and avoids the damage. The experiments indicate that the proposed force feedback robotic catheter system can work well and facilitate the manipulation, avoid potential damages.

Original language	English
Title of host publication	2011 IEEE International Conference on Mechatronics and Automation, ICMA 2011
Pages	107-111
Number of pages	5
DOIs	https://doi.org/10.1109/ICMA.2011.5985640
Publication status	Published - 2011
Externally published	Yes
Event	2011 IEEE International Conference on Mechatronics and Automation, ICMA 2011 - Beijing, China Duration: 7 Aug 2011 → 10 Aug 2011

Publication series

Name	2011 IEEE International Conference on Mechatronics and Automation, ICMA 2011

Conference

Conference	2011 IEEE International Conference on Mechatronics and Automation, ICMA 2011
Country/Territory	China
City	Beijing
Period	7/08/11 → 10/08/11

Keywords

Catheter
Force Feedback Mechanical System
Master-Slave Mechanism
Minimally Invasive Surgery (MIS)

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10.1109/ICMA.2011.5985640

Cite this

Ma, X., Guo, S., Xiao, N., Guo, J., Yoshida, S., Tamiya, T., & Kawanishi, M. (2011). Development of a novel robot-assisted catheter system with force feedback. In 2011 IEEE International Conference on Mechatronics and Automation, ICMA 2011 (pp. 107-111). Article 5985640 (2011 IEEE International Conference on Mechatronics and Automation, ICMA 2011). https://doi.org/10.1109/ICMA.2011.5985640

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title = "Development of a novel robot-assisted catheter system with force feedback",

abstract = "Manual operation of intracardiac steerable catheter is inaccurate, requires dexterity for efficient manipulation of the catheter, and exposes the surgeons to intense radiation. This paper presents a robot-assisted catheter manipulation system with force feedback, monitor and a master-slave tele-operation system. We developed the mechanical system and applied it in the slave side to guarantee the manipulation safety in intravascular neurosurgery applications. The force information can be obtained from the load cell. When the catheter contacted to the vascular, the surgeon can feel the force feedback and avoids the damage. The experiments indicate that the proposed force feedback robotic catheter system can work well and facilitate the manipulation, avoid potential damages.",

keywords = "Catheter, Force Feedback Mechanical System, Master-Slave Mechanism, Minimally Invasive Surgery (MIS)",

author = "Xu Ma and Shuxiang Guo and Nan Xiao and Jian Guo and Shunichi Yoshida and Takashi Tamiya and Masahiko Kawanishi",

year = "2011",

doi = "10.1109/ICMA.2011.5985640",

language = "English",

isbn = "9781424481149",

series = "2011 IEEE International Conference on Mechatronics and Automation, ICMA 2011",

pages = "107--111",

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note = "2011 IEEE International Conference on Mechatronics and Automation, ICMA 2011 ; Conference date: 07-08-2011 Through 10-08-2011",

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Ma, X, Guo, S, Xiao, N, Guo, J, Yoshida, S, Tamiya, T & Kawanishi, M 2011, Development of a novel robot-assisted catheter system with force feedback. in 2011 IEEE International Conference on Mechatronics and Automation, ICMA 2011., 5985640, 2011 IEEE International Conference on Mechatronics and Automation, ICMA 2011, pp. 107-111, 2011 IEEE International Conference on Mechatronics and Automation, ICMA 2011, Beijing, China, 7/08/11. https://doi.org/10.1109/ICMA.2011.5985640

Development of a novel robot-assisted catheter system with force feedback. / Ma, Xu; Guo, Shuxiang; Xiao, Nan et al.
2011 IEEE International Conference on Mechatronics and Automation, ICMA 2011. 2011. p. 107-111 5985640 (2011 IEEE International Conference on Mechatronics and Automation, ICMA 2011).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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AU - Tamiya, Takashi

AU - Kawanishi, Masahiko

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AB - Manual operation of intracardiac steerable catheter is inaccurate, requires dexterity for efficient manipulation of the catheter, and exposes the surgeons to intense radiation. This paper presents a robot-assisted catheter manipulation system with force feedback, monitor and a master-slave tele-operation system. We developed the mechanical system and applied it in the slave side to guarantee the manipulation safety in intravascular neurosurgery applications. The force information can be obtained from the load cell. When the catheter contacted to the vascular, the surgeon can feel the force feedback and avoids the damage. The experiments indicate that the proposed force feedback robotic catheter system can work well and facilitate the manipulation, avoid potential damages.

KW - Catheter

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KW - Master-Slave Mechanism

KW - Minimally Invasive Surgery (MIS)

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Development of a novel robot-assisted catheter system with force feedback

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