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Magnetorheological Fluids Actuated Haptic-Based Teleoperated Catheter Operating System
Xuanchun Yin1, Shuxiang Guo2, Yu Song3
1College of Engineering, South China Agricultural University, 483, Wushan Road, Tianhe District, Guangzhou 510642, China. xc_yin@hotmail.com.
Micromachines
|November 15, 2018
Summary
This study introduces a novel robot-assisted system with haptic feedback for catheter procedures. The new haptic-based master-slave system reduces surgical time and protects surgeons from X-ray radiation exposure.
Area of Science:
- Medical Robotics
- Surgical Technology
- Biomedical Engineering
Background:
- Conventional catheter endovascular procedures require surgeons to rely on direct sensation for catheter manipulation.
- Surgeons and patients face significant X-ray radiation exposure during traditional catheter-based interventions.
Purpose of the Study:
- To enhance surgical safety and minimize X-ray radiation exposure for surgeons during catheter interventions.
- To develop and evaluate a novel haptic-based robot-assisted master-slave system.
Main Methods:
- Developed a magnetorheological (MR) fluids-based haptic interface for controllable tactile feedback.
- Utilized motion capture to translate master-side kinematics to the slave robotic catheter system.
- Designed and manufactured a 2-DOF slave robotic system capable of catheter advancement, retraction, and rotation.
- Integrated a force sensing unit to measure catheter-vasculature interaction forces and provide feedback to the master system.
Main Results:
- Demonstrated synchronous operation between the master and slave systems for catheter intervention.
- Validated the advantages of integrating controllable haptic sensation through in vitro experiments.
- Experimental results confirmed reduced surgical time and effective protection from X-ray radiation.
Conclusions:
- The proposed haptic-based robot-assisted master-slave system offers a safer and more efficient approach to catheter endovascular procedures.
- This technology has the potential to significantly improve surgeon safety and patient outcomes by reducing radiation exposure and procedure duration.
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