Design and characteristics evaluation of a novel teleoperated robotic catheterization system with force feedback for vascular interventional surgery

Abstract

In this paper, we proposed a novel master-slave robotic catheterization system with force feedback for VIS (Vascular Interventional Surgery). The force feedback to the operator on the master side is the key factor to improve the safety during VIS. The developed system used the MR (magneto rheological) fluid to realize force feedback, and it used the developed multidimensional monitoring interface to realize the visualization of force feedback, the developed multidimensional monitoring interface can monitor the motion information of the catheter and contact force between catheter tip or side wall and blood vessel wall, and the motion data of the catheter was collected and generated diagram for reference to surgeon. We have developed a force sensor array to detect the contact force between catheter tip or side wall and blood vessel wall. The force information was detected by the developed contact force sensor array when the catheter contacted with the blood vessel. The force feedback and multidimensional information monitoring interface evaluation experiments were done, the tracking characteristic evaluation experiments were also carried out, the experimental results indicated that the developed novel robotic catheterization system with force feedback and visualization of force feedback is effective for VIS, it can improve the safety during VIS.

Study of the Operational Safety of a Vascular Interventional Surgical Robotic System

“…As shown in Figure 14 , the force feedback error of the proposed system is maintained between ±20 mN. Compared with previous studies [ 23 ], the error value is within the allowable range and met our design requirements.…”

“…According to Figure 16 , which shows the error curve of the axial displacement, the error in the experiment is kept in the range of plus or minus 1 mm, which meets experimental requirements. Compared with previous generations of tracking experiments of master–slave displacement, the performance of the slave manipulator is improved [ 23 ]. Therefore, the operation safety of the master–slave, minimally-invasive robotic system for vascular interventions is improved.…”

Haptic feedback in the da Vinci Research Kit (dVRK): A user study based on grasping, palpation, and incision tasks

“…After several years during which the lack of haptic feedback was considered a limitation for the dV, 9 the mainstream opinion has become that robotic surgeons (necessarily trained on the dV) can compensate by using visual feedback, so that they do not suffer from that shortage. 10 On the other hand, many research studies claimed clear benefits from haptic feedback restoration for clinical applications/tasks requiring mechanical contrast perception for tissue discrimination (intraoperative palpation [11][12][13][14][15] ), precise tool-tissue interaction force rendering (incision/ dissection, 3,[16][17][18][19] catheter steering, 20 needle driving/suturing [21][22][23][24][25] ), or tissue/organ safe manipulation (tissue clutching, organ retraction 26,27 ).…”

A tensor-mass method-based vascular model and its performance evaluation for interventional surgery virtual reality simulator

“…As illustrated in Figure , virtual reality (VR)‐based surgery training system could be an indispensable and promising way to overcome these problems . There are many researchers studying the robotic‐assisted interventional surgery operating system . However, limited to the performance of the computer and hardware, as a part of the robotic system, VR‐based surgery training system has not been fully and perfectly studied to achieve real time and realism.…”

“…[1][2][3][4] There are many researchers studying the robotic-assisted interventional surgery operating system. 5 However, limited to the performance of the computer and hardware, as a part of the robotic system, VR-based surgery training system has not been fully and perfectly studied to achieve real time and realism.…”