NDLI: Vascular load reduction control based on operator's skill for catheter insertion

Content Provider	IEEE Xplore Digital Library
Author	Fudaba, Y. Tsusaka, Y. Ozawa, J.
Copyright Year	2013
Description	Author affiliation: Adv. Technol. Res. Labs., Panasonic Corp., Kyoto, Japan (Fudaba, Y.; Tsusaka, Y.; Ozawa, J.)
Abstract	This paper proposes a method for vascular load reduction control that operates in regard to the load on contact points of catheter and blood vessels in catheter insertion. We make an extracorporeal estimation of the load on the contact points, and perform control with a robot arm to reduce the estimated load. We aim to reduce the vascular load through extracting and vibrating action as actually applied by operators. In order to confirm the effectiveness of the proposed method, we conduct an evaluation experiment where a wire is inserted in a tube that simulates a blood vessel. As a result of the experiment we were able to estimate the force on the contact points with an accuracy of an estimation error of 9.1%. Moreover, through vibration control we were able to reduce the load to below 0.1[N] for places where there was an overload of more than 0.5[N]. For vibration control, the experiment also enabled us to derive an effective parameter adjustment method to remove obstructions.
Sponsorship	IEEE Ind. Electron. Soc.
Starting Page	90
Ending Page	95
File Size	510423
Page Count	6
File Format	PDF
ISSN	21530858
DOI	10.1109/IROS.2013.6696337
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2013-11-03
Publisher Place	Japan
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Force Wires Electron tubes Catheters Force measurement Robot sensing systems
Content Type	Text
Resource Type	Article
Subject	Control and Systems Engineering Computer Science Applications Computer Vision and Pattern Recognition Software

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
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9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in

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