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Teleoperated robotic surgical system for percutaneous coronary intervention
Hsin-Fang Hsu1, Ching-Chang Huang2, Yu-Ting Shen1
1Department of Mechanical Engineering, National Taiwan University, Taipei, Taiwan.
Insights
A new teleoperated robotic system for Percutaneous Coronary Intervention (PCI) allows surgeons to perform procedures remotely. This innovation aims to reduce radiation exposure for medical staff during heart treatments.
Area of Science:
- Cardiovascular Medicine
- Robotics in Surgery
- Medical Imaging
Background:
- Heart disease remains a leading global cause of mortality.
- Percutaneous Coronary Intervention (PCI) is a standard treatment, but involves surgeon radiation exposure.
- Robotic surgery advancements offer potential solutions for minimally invasive procedures.
Purpose of the Study:
- To develop a teleoperated robotic surgical system for PCI.
- To mimic surgeon manipulation techniques like push, pull, and rotation.
- To mitigate prolonged radiation exposure for surgeons during PCI.
Main Methods:
- A framework with surgeon-side, patient-side, and automatic delivery components was designed.
- Surgeons remotely control the patient-side robot for PCI procedures.
- Proportional-Integral (PI) controllers optimized via Particle Swarm Optimization ensure accurate response.
Main Results:
- The teleoperated system successfully mimics surgeon manipulation techniques.
- The system effectively addresses radiation exposure concerns by enabling remote operation.
- Performance was validated using a silicone vascular model, demonstrating feasibility.
Conclusions:
- The developed teleoperated PCI robotic system offers a promising solution for safer cardiac interventions.
- Remote control capability minimizes radiation exposure for surgical teams.
- The system's successful validation indicates its potential for clinical application.
Abstract:
Heart disease has been the leading cause of death worldwide for decades. Today, Percutaneous Coronary Intervention (PCI) has become the gold standard for treating heart disease due to its minimally invasive nature, effectively reducing the time for both surgery and recovery. During a PCI procedure, the surgeon injects a contrast agent into the coronary arteries and uses live X-ray images to obtain information on blockages. However, prolonged radiation exposure could cause dose accumulation and harm to surgeons. Recently, major technological advancements in robotic surgery have made minimally invasive surgery easier. In contrast, only a few robotic surgical systems have been developed for PCI with semi-automation. In this study, the framework of a teleoperated PCI robotic surgical system, mimicking the common manipulation techniques by surgeons such as push, pull, and rotation, was developed. The framework consists of three major components: a surgeon side, a patient side, and an automatic delivery system. The automatic delivery system supplies the guidewire and catheter into the patient side. The surgeon remotely controls the patient-side robot from the surgeon side to perform a teleoperated PCI procedure, eliminating the need for medical personnel in the surgery room and addressing prolonged radiation exposure issues. To ensure the response accuracy between the surgeon side and patient side, PI controllers are incorporated into the control architecture. These PI controllers, designed using Particle Swarm Optimization, demonstrate high performance and meet the desired goals. The system performance of this PCI robotic surgical system has been validated in a silicone vascular model.
