A Magnetorheological Fluids-Based Robot-Assisted Catheter/Guidewire Surgery System for Endovascular Catheterization

Zhang, Linshuai; Gu, Shenyan; Guo, Shuxiang; Tamiya, Takashi

doi:10.3390/mi12060640

Cited by 19 publications

(10 citation statements)

References 38 publications

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“…First, device setup and exchanging interventional equipment requires specialized training; the expected time expenditure does not currently justify its use in emergency settings. Secondly, the lack of haptic feedback raises concerns about accidental vascular injury; however, novel technological developments address this issue by introducing force feedback and collision detection mechanisms [24][25][26]. Lastly, compatibility is restricted to monorail systems, which have less pushability with smaller diameters and lengths.…”

Section: Discussionmentioning

confidence: 99%

Pilot Animal Study on Robotic-Assisted Endovascular Visceral Interventions

Kupczyk

Attenberger

Meyer

et al. 2022

Cardiovasc Intervent Radiol

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Purpose To evaluate technical feasibility and safety of common endovascular visceral interventions using a vascular robotic platform through preclinical study. Material and Methods The CorPath GRX Robotic System (Corindus Inc, Waltham, Massachusetts) was tested in an anesthetized pig for its ability to navigate various commercially available devices in the abdominal vasculature and to perform routine endovascular visceral procedures. After manually placing a guiding catheter in the celiac trunk, several visceral branches were probed with microcatheters and -wires under robotic assistance, and embolization with liquids (lipiodol), detachable coils and plugs were performed. Furthermore, the origin of the celiac trunk was stented before accessing the left hypogastric artery for pelvic embolization. Results All procedures were performed with technical success and without any complications. Navigating the catheters and wires via the steering console proved intuitive. Coil, plug and stent deployment were exclusively controlled by remote with remarkable precision and stability. Conclusion Robotic-assisted visceral embolization and stenting as well as pelvic embolization using the CorPath GRX System is feasible and safe. Application of the platform in the abdominal vasculature is demonstrated for the first time. Considering the precision and the potential for reducing the operator’s radiation exposure, further research in this area is highly encouraged to enable translation into clinical practice.

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Section: Discussionmentioning

confidence: 99%

Pilot Animal Study on Robotic-Assisted Endovascular Visceral Interventions

Kupczyk

Attenberger

Meyer

et al. 2022

Cardiovasc Intervent Radiol

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“…At low flow rates, the curve's slope factor, K, reached a value of 28, only to drop down to 9.1 at higher flow rates. It seems that the observed behavior in the pinch mode at low flow rates may be an interesting loading mode for microfluidic systems working with MR fluid [25,29].…”

Section: Valve Performance Comparisonmentioning

confidence: 96%

Assessment of the Dynamic Range of Magnetorheological Gradient Pinch-Mode Prototype Valves

Žáček,

Goldasz,

Sapinski

et al. 2023

Actuators

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Magnetorheological (MR) fluids have been known to react to magnetic fields of sufficient magnitudes. While in the presence of the field, the material develops a yield stress. The tunable property has made it attractive in, e.g., semi-active damper applications in the vibration control domain in particular. Within the context of a given application, MR fluids can be exploited in at least one of the fundamental operating modes (flow, shear, squeeze, or gradient pinch mode) of which the gradient pinch mode has been the least explored. Contrary to the other operating modes, the MR fluid volume in the flow channel is exposed to a non-uniform magnetic field in such a way that a Venturi-like contraction is developed in a flow channel solely by means of a solidified material in the regions near the walls rather than the mechanically driven changes in the channel’s geometry. The pinch-mode rheology of the material has made it a potential candidate for developing a new category of MR valves. By convention, a pinch-mode valve features a single flow channel with poles over which a non-uniform magnetic field is induced. In this study, the authors examine ways of extending the dynamic range of pinch-mode valves by employing a number of such arrangements (stages) in series. To accomplish this, the authors developed a prototype of a multi-stage (three-stage) valve, and then compared its performance against that of a single-stage valve across a wide range of hydraulic and magnetic stimuli. To summarize, improvements of the pinch-mode valve dynamic range are evident; however, at the same time, it is hampered by the presence of serial air gaps in the flow channel.

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“…In venous catheterization procedures, for example, x-rays are commonly used for live imaging of the patient’s vascular system. Haptic feedback allows the surgeon to stay outside the operation room while retaining the haptic sensation crucial for preventing vascular puncturing 12 .…”

Section: Introductionmentioning

confidence: 99%

The benefits of haptic feedback in robot assisted surgery and their moderators: a meta-analysis

Bergholz,

Ferle,

Weber

2023

Sci Rep

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Robot assisted surgery (RAS) provides medical practitioners with valuable tools, decreasing strain during surgery and leading to better patient outcomes. While the loss of haptic sensation is a commonly cited disadvantage of RAS, new systems aim to address this problem by providing artificial haptic feedback. N = 56 papers that compared robotic surgery systems with and without haptic feedback were analyzed to quantify the performance benefits of restoring the haptic modality. Additionally, this study identifies factors moderating the effect of restoring haptic sensation. Overall results showed haptic feedback was effective in reducing average forces (Hedges’ g = 0.83) and peak forces (Hedges’ g = 0.69) applied during surgery, as well as reducing the completion time (Hedges’ g = 0.83). Haptic feedback has also been found to lead to higher accuracy (Hedges’ g = 1.50) and success rates (Hedges’ g = 0.80) during surgical tasks. Effect sizes on several measures varied between tasks, the type of provided feedback, and the subjects’ levels of surgical expertise, with higher levels of expertise generally associated with smaller effect sizes. No significant differences were found between virtual fixtures and rendering contact forces. Implications for future research are discussed.

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A Magnetorheological Fluids-Based Robot-Assisted Catheter/Guidewire Surgery System for Endovascular Catheterization

Cited by 19 publications

References 38 publications

Pilot Animal Study on Robotic-Assisted Endovascular Visceral Interventions

Pilot Animal Study on Robotic-Assisted Endovascular Visceral Interventions

Assessment of the Dynamic Range of Magnetorheological Gradient Pinch-Mode Prototype Valves

The benefits of haptic feedback in robot assisted surgery and their moderators: a meta-analysis

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