NDLI: A force feedback system for endovascular catheterisation

Content Provider	IEEE Xplore Digital Library
Author	Payne, C.J. Rafii-Tari, H. Guang-Zhong Yang
Copyright Year	2012
Description	Author affiliation: Hamlyn Centre for Robotic Surgery, Imperial College London, UK (Payne, C.J.; Rafii-Tari, H.; Guang-Zhong Yang)
Abstract	Robotically assisted catheterisation has attracted significant interest in recent years. However, few designs have made full use of the extensive experience and skills that interventional radiologists have acquired from conventional catheter navigation. Additionally, limited research has been conducted in quantifying the effectiveness of haptic feedback for catheterisation procedures. This paper presents a novel master-slave force feedback system for endovascular catheterisation that can be used in a natural setting with enhanced ergonomics. The system has been validated with detailed laboratory experiments and a comprehensive user study. The performance of the system was compared against manual catheterisation by measuring the forces exerted on a vascular phantom. The results showed a 76% reduction in the mean force applied and a 55% reduction in the maximum force over the course of the study, indicating that the force feedback system reduced the magnitude and duration of force exerted during a simulated endovascular procedure. This research provides important insights into the design of compact and ergonomic robotic catheter manipulators incorporating effective real-time force feedback for intraoperative navigation.
Starting Page	1298
Ending Page	1304
File Size	1839529
Page Count	7
File Format	PDF
ISBN	9781467317375
ISSN	21530858
e-ISBN	9781467317368
DOI	10.1109/IROS.2012.6386149
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2012-10-07
Publisher Place	Portugal
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Catheters Force measurement Force Force feedback Robot sensing systems Phantoms
Content Type	Text
Resource Type	Article
Subject	Control and Systems Engineering Computer Science Applications Computer Vision and Pattern Recognition Software

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