A novel robotic catheter system with force and visual feedback for vascular interventional surgery

2013 IEEE International Conference on Mechatronics and Automation

Gao

et al. 2013

Self Cite

In order to ensure the safety of the MIS (minimally invasive surgery), the pressure sensitive rubber has been proposed to be used in robotic catheter system as the tactile sensor. The contact force between the catheter and the blood vessel wall can be obtained precisely in this way. However, the structure of the blood vessel wall is thin film. Whether the vascular wall will be damaged or not is related to the contact force and the contact area. In this paper, the research of the piezoresistive characteristics of the carbon black filled pressuresensitive conductive composite material have been carried out, and the relationship between the resistance and the contact area is deduced. Then experiments are designed to draw the relationship curve of the resistance and the contact area. A twodimensional calibration curve is obtained utilizing the calibration system. Meanwhile, the experimental results indicate that the pressure sensitive rubber can be effectively used as the tactile sensor in robotic catheter system.

Section: The Robotic Catheter Systemmentioning

confidence: 99%

“…Tele-Operation Master-Slave System for Minimal Invasive Brain Surgery has been reported [2]. Then A Novel Robotic Catheter System with Force and Visual Feedback for Vascular Interventional Surgery has been reported [3]. The master-slave catheterization system for positioning the steerable catheter has been reported [4].…”

Section: Introductionmentioning

confidence: 99%

Feasibility analysis of a pressure sensitive rubber - based tactile sensor

2013 IEEE International Conference on Mechatronics and Automation

Gao

et al. 2013

Self Cite

“…There are two joints in the design of the master controller, and each joint is connected to a motor with a wire mechanism. Another research group in [23] designed a master controller to simulate the conventional push, pull and rotate motion used in current practice. However, unlike the conventional endovascular catheterization, in which interventionalists manipulate an actual catheter directly using their hands, the employment of these master controllers replaces the catheter from the interventionalists' hand with the "handle part," which are made of metal materials with different size and material attributes from a real catheter, to carry out catheterization training operations.…”

Section: Introductionmentioning

confidence: 99%

Design and performance evaluation of a master controller for endovascular catheterization

Tamiya

et al. 2015

Int J CARS

Self Cite

“…But the grasper in their system may lead to the deformation of the catheter so that it may damage the catheter. The accuracy of robot catheter system plays an important role in the interventional surgery [12] [13]. So a grasper satisfying the accuracy demand is expected to be proposed.…”

Section: Introductionmentioning

confidence: 99%

Performance evaluation of the novel grasper for a robotic catheter navigation system

2014 IEEE International Conference on Information and Automation (ICIA)

Shao

et al. 2014

Self Cite

This paper proposed a novel grasper for a novel master-slave robotic catheter navigation system in Vascular Interventional Surgery (VIS). The developed novel grasper can imitate the catheter grasping motion of the surgeon during VIS. The grasper is a key factor to drive the catheter into the vessel accurately. It adopts a common structure like the pliers, which can guarantee that the catheter can be clamped on the same axes with other via hole. The clamping force can be adjusted by the screw through changing the entered length of the screw to change the compression length of the spring. The clamping system consists of two graspers both master side and slave side respectively. The graspers clamp the catheter just like the surgeon's hand and the clamping method of the grasper imitates the surgeon's operation. The performance evaluation experiments of the novel grasper were done. The experimental results indicated that the grasper was effective to clamp catheter tightly to increase accuracy of surgery, which can satisfy the design demand.