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Haptic/Graphic Rehabilitation: Integrating a Robot into a Virtual Environment Library and Applying it to Stroke Therapy
Published on: August 8, 2011
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Performance evaluation of a robot-assisted catheter operating system with haptic feedback
Yu Song1, Shuxiang Guo2,3, Xuanchun Yin4
1Graduate School of Engineering, Kagawa University, 2217-20 Hayashi-cho, Takamatsu, Kagawa, 760-8521, Japan.
Biomedical Microdevices
|June 22, 2018
Summary
A novel robot-assisted catheter operating system (RCOS) reduces physician strain and X-ray exposure during endovascular procedures. This system utilizes haptic feedback to decrease catheter-vasculature contact forces, enhancing patient safety.
Area of Science:
- Robotics and Automation
- Medical Devices
- Biomedical Engineering
Background:
- Endovascular procedures pose physical and radiation risks to physicians.
- Current catheterization methods lack precise force feedback.
- Minimally invasive surgery demands advanced robotic solutions.
Purpose of the Study:
- To introduce a novel robot-assisted catheter operating system (RCOS).
- To reduce physician physical stress and X-ray exposure.
- To enhance safety by providing haptic feedback and minimizing catheter-vasculature contact forces.
Main Methods:
- Development of a magnetorheological (MR) fluids-based master haptic interface for motion sensing and feedback.
- Implementation of a hall sensor-based closed-loop control for rapid haptic response.
- Design of a slave catheter manipulator with a force sensor unit for delivering the catheter and measuring contact forces.
Main Results:
- The RCOS successfully replicates master catheter movements at the slave side.
- Haptic feedback provides four levels of force awareness to the operator.
- In vitro experiments demonstrated a significant decrease in catheter-vasculature contact forces.
Conclusions:
- The proposed RCOS effectively reduces physical stress and X-ray exposure for physicians.
- The haptic feedback system enhances operator awareness of forces during catheter insertion.
- The system shows potential for improving safety and precision in endovascular procedures.
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