NDLI: A novel master-slave robotic catheter system for Vascular Interventional Surgery

Content Provider	IEEE Xplore Digital Library
Author	Shuxiang Guo Peng Wang Jian Guo Wei Wei Yuehui Ji Yunliang Wang
Copyright Year	2013
Description	Author affiliation: Tianjin Key Lab. for Control, Theor. & Applic. in Complicated Syst., Tianjin Univ. of Technol., Tianjin, China (Shuxiang Guo; Peng Wang; Jian Guo; Wei Wei; Yuehui Ji; Yunliang Wang)
Abstract	In minimally invasive surgery, the surgeons are exposed to X-ray, threatening the surgeons' health due to depositing long. It is important to find a method instead of using X-ray during Vascular Interventional Surgery (VIS). In this paper, a novel master-slave robotic catheter system for VIS has been proposed. The surgeons operate a real catheter on the master side, which can make full use of the natural catheter manipulation skills obtained in conventional catheter navigation. And the acquired operating information can be transmitted into the master controller. The control information from the master controller can be sent into slave controller. According to the control information, the slave controller can control the slave manipulator to operate catheter insert into the blood vessel during VIS. The operating force of catheter by slave manipulator can be acquired into the slave controller and be sent to the master controller. A novel type of master manipulator we proposed is based on the principle of magnetorheological fluid. A piston structure filled with magnetorheological fluid can transmit the force feedback to surgeon's hand through the operating catheter from the control of master controller, which seems that the surgeon operates the catheter beside the patient. The communication method and control strategy of designed system have been used in our previous developed system. Theoretical analysis of the designed system was done. The analyzed results indicated that the proposed robotic catheter system was effective for vascular interventional surgery. It can provide force feedback to surgeon in real time.
Starting Page	951
Ending Page	956
File Size	1347131
Page Count	6
File Format	PDF
ISBN	9781467355575
e-ISBN	9781467355605
DOI	10.1109/ICMA.2013.6618043
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2013-08-04
Publisher Place	Japan
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Catheters Surgery Force Manipulators Pistons Blood vessels Magnetorheological fluid Vascular interventional surgery Catheter Master-slave system Force feedback
Content Type	Text
Resource Type	Article

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