Development of a High-Sensitivity Proximal Force/Torque Sensor Based on Optical Sensing for Intravascular Robots

Shi, Chaoyang; Song, Dezhi; Lai, Dewei; Wang, Shuxin

doi:10.1109/tmrb.2022.3214373

Cited by 6 publications

(3 citation statements)

References 37 publications

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“…These merits support their applications for the serial chain robotic systems to automatically obtain the governing equations and address the laborious and complicated issues for kinematics and dynamics under complex scenarios, which can be further applied to the proposed flexible manipulator with a serial chain of the vertebrae in the future. The developed proximal and distal force sensor designs and fiber Bragg grating (FBG)-based shape sensing techniques in our previous work will also be further integrated with the flexible manipulator to provide force feedback and enable closed-loop control [37,38].…”

Section: E Discussionmentioning

confidence: 99%

Development of a Novel Ball-and-Socket Flexible Manipulator for Minimally Invasive Flexible Surgery

Song

et al. 2023

IEEE Trans. Med. Robot. Bionics

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This work proposes a novel flexible manipulator consisting of a series of 2-DOF vertebrae based on a ball-andsocket joint that is connected by a ball-shaped surface and a cupshaped socket and constrained by pins for circumferential rotation. This manipulator can demonstrate outstanding torsional stiffness since the circumferential rotation between the vertebrae is constrained by four ball pins. The point contact between ball pins and guideways effectively reduces the friction between the vertebrae, thus allowing the designed manipulator to yield a smooth bending shape with constant curvature. This manipulator features high axial and torsional stiffness, excellent bending performance, sufficient loading capacity, and convenient integration with surgical instruments. Moreover, the excellent torsional stiffness enables this manipulator to efficiently transfer torque and be applied in in-situ torsional motion, effectively addressing the typical issue of limited dexterity for torsional motion. The kinematic modeling of the proposed manipulator under in-situ torsional motion has been derived, and its workspace has been analyzed. A robotic system has been assembled, and experiments have verified the proposed design and modeling validity. The results show that the maximum position errors in bending motion are 2.39% (horizontal direction) and 1.98% (vertical direction), and its torsional stiffness is 21.13N•mm/deg, which is 46 times higher than that of a typical spherical flexible manipulator (SFM). Such merits support this manipulator excellently performing the in-situ torsional motion with a maximum average position error of 3.58%. Furthermore, a phantom test of the larynx has been performed to verify the potential of clinical feasibility.

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Section: E Discussionmentioning

confidence: 99%

Development of a Novel Ball-and-Socket Flexible Manipulator for Minimally Invasive Flexible Surgery

Song

et al. 2023

IEEE Trans. Med. Robot. Bionics

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“…In addition, control and safety strategies are implemented within the master–slave platform coupled with image-based guidance systems to minimize operative risks during procedures. Furthermore, the tool–vessel contact force and haptic feedback are essential for closed-loop control modeling and potential autonomous navigation based on increased machine awareness and operation safety during catheterization [ 37 , 38 ]. These essential areas for safe robot-assisted vascular interventions are discussed elaborately in the subsequent sections.…”

Section: Key Technologies and Application Areas Of Vascular Intervent...mentioning

confidence: 99%

Technical and Clinical Progress on Robot-Assisted Endovascular Interventions: A Review

Duan

Akinyemi

et al. 2023

Micromachines

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Prior methods of patient care have changed in recent years due to the availability of minimally invasive surgical platforms for endovascular interventions. These platforms have demonstrated the ability to improve patients’ vascular intervention outcomes, and global morbidities and mortalities from vascular disease are decreasing. Nonetheless, there are still concerns about the long-term effects of exposing interventionalists and patients to the operational hazards in the cath lab, and the perioperative risks that patients undergo. For these reasons, robot-assisted vascular interventions were developed to provide interventionalists with the ability to perform minimally invasive procedures with improved surgical workflow. We conducted a thorough literature search and presented a review of 130 studies published within the last 20 years that focused on robot-assisted endovascular interventions and are closely related to the current gains and obstacles of vascular interventional robots published up to 2022. We assessed both the research-based prototypes and commercial products, with an emphasis on their technical characteristics and application domains. Furthermore, we outlined how the robotic platforms enhanced both surgeons’ and patients’ perioperative experiences of robot-assisted vascular interventions. Finally, we summarized our findings and proposed three key milestones that could improve the development of the next-generation vascular interventional robots.

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“…Intravascular biosensing makes a separate category of biological detection that requires increased accuracy and rules out destructive testing; therefore, phosphorescence lifetime imaging microscopy 15 and pressure transducers 16 are employed instead. In addition, stents are used to measure blood glucose 17 , intravascular robots can warn about vascular damage 18 while devices implanted through the jugular vein enable permanent, wireless pressure monitoring 19 . Dynamic estimation for optical absorption becomes also feasible by using photoacoustic measurements 20 and precision-microfabricated fiber-optic probes are used for temperature sensing 21 .…”

Section: Introductionmentioning

confidence: 99%

Scattering integral equation formulation for intravascular inclusion biosensing

Valagiannopoulos,

Tosi

2024

Sci Rep

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A dielectric waveguide, inserted into blood vessels, supports its basic mode that is being scattered by a near-field intravascular inclusion. A rigorous integral equation formulation is performed and the electromagnetic response from that inhomogeneity is semi-analytically evaluated. The detectability of the formation, based on spatial distribution of the recorded signal, is estimated by considering various inclusion sizes, locations and textural contrasts. The proposed technique, with its variants and generalizations, provides a generic versatile toolbox to efficiently model biosensor layouts involved in healthcare monitoring and disease screening.

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Development of a High-Sensitivity Proximal Force/Torque Sensor Based on Optical Sensing for Intravascular Robots

Cited by 6 publications

References 37 publications

Development of a Novel Ball-and-Socket Flexible Manipulator for Minimally Invasive Flexible Surgery

Development of a Novel Ball-and-Socket Flexible Manipulator for Minimally Invasive Flexible Surgery

Technical and Clinical Progress on Robot-Assisted Endovascular Interventions: A Review

Scattering integral equation formulation for intravascular inclusion biosensing

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