Preliminary study for motion scaling based control in minimally invasive vascular interventional robot

Area of Science:

• Medical Robotics
• Minimally Invasive Surgery
• Interventional Cardiology

Background:

• Robot-assisted surgery reduces surgeon radiation exposure during vascular interventions.
• Current robotic systems replicate surgeon movements, limiting precision and efficiency.
• Scaling surgeon's movements is crucial for enhanced precision and reduced manipulation time.

Purpose of the Study:

• To propose a novel motion scaling control method for vascular interventional robots.
• To enable adjustable motion speed ratios between the master and slave manipulators.
• To improve precision and reduce procedure time in robot-assisted vascular interventions.

Main Methods:

• Implemented a motion scaling control strategy in a developed vascular interventional robot.
• Adjusted motion speed ratios between the master and slave robotic systems.
• Enabled operators to control interventional devices with varying motion scaling factors.

Main Results:

• The motion scaling control method was successfully integrated into the robotic system.
• Operators could utilize different motion scaling factors for device delivery.
• Experimental studies confirmed the effectiveness of the proposed motion scaling control.

Conclusions:

• The novel motion scaling control method enhances robot-assisted vascular interventions.
• This approach offers improved precision and efficiency for surgeons.
• The technology holds potential for advancing minimally invasive vascular procedures.