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A vascular interventional surgical robot based on surgeon's operating skills.
Cheng Yang1, Shuxiang Guo2,3, Xianqiang Bao1
1Key Laboratory of Convergence Biomedical Engineering System and Healthcare Technology, The Ministry of Industry and Information Technology, School of Automation, Beijing Institute of Technology, No.5, Zhongguancun South Street, Haidian District, Beijing, 100081, China.
Medical & Biological Engineering & Computing
|July 27, 2019
Summary
This study introduces a novel surgical robot for interventional procedures, enhancing surgeon control and safety in remote cardiovascular and cerebrovascular treatments. The robot utilizes fuzzy control and force feedback for precise, minimally damaging operations.
Area of Science:
- Medical Robotics
- Cardiovascular Surgery
- Cerebrovascular Surgery
Background:
- Interventional surgery is crucial for cardiovascular and cerebrovascular diseases.
- Surgical robots can mitigate surgeon fatigue and radiation exposure.
- Remote control surgical robots enhance surgeon capabilities and safety.
Purpose of the Study:
- To present a novel interventional surgical robot for precise remote control.
- To ensure control precision and safety during master-slave operations.
- To reduce potential damage from control delays in remote surgery.
Main Methods:
- Fuzzy control theory for master-slave operation precision.
- Safety force feedback control based on catheter and guidewire spring models.
- Force-position control to mitigate damage from control delay.
- Vascular model experiments and in vivo animal surgery evaluations.
Main Results:
- The force-position control strategy was validated using a vascular model.
- In vivo experiments confirmed the robot's precision in catheter and guidewire manipulation.
- Surgeon feedback and experimental results indicate successful complex remote surgery performance.
Conclusions:
- The developed interventional surgical robot enables precise and safe remote operations.
- The robot effectively translates surgeon skills to remote procedures.
- This technology holds promise for clinical applications in interventional surgery.