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A remote-controlled vascular interventional robot: system structure and image guidance.

Cai Meng¹, Jun Zhang, Da Liu

¹Image Processing Centre, Beihang University, Beijing, People's Republic of China. Tsai@buaa.edu.cn

The International Journal of Medical Robotics + Computer Assisted Surgery : MRCAS

|March 23, 2013

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This study presents a remote-controlled vascular interventional robot (RVIR) for safer surgery. The system

Area of Science:

Medical Robotics
Surgical Technology
Image-Guided Interventions

Background:

Robot-assisted vascular interventional surgery (VIS) reduces surgeon exposure to X-ray radiation.
Safe and accurate teleoperation in VIS relies on robust system structure and effective image guidance.

Purpose of the Study:

To introduce the system structure and image guidance system (IGS) of a developed remote-controlled vascular interventional robot (RVIR).
To address key technologies within the IGS, including C-arm calibration, distortion correction, catheter localization, and 3D vasculature reconstruction.

Main Methods:

The RVIR employs a master-slave structure for remote control.
Key IGS technologies involve C-arm calibration, distortion correction, catheter localization, and 3D vasculature reconstruction.

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Main Results:

The root-mean-square error for distortion correction was 0.35 pixels, and 0.53 mm for distance reconstruction.
Catheter localization errors between the IGS and encoders were minimal.
In vitro and in vivo tests confirmed the feasibility of the RVIR.

Conclusions:

The developed RVIR is feasible and effective for remote VIS.
The IGS demonstrates sufficient function and reconstruction accuracy to guide the RVIR effectively.