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Wang X, Liu W, Luo Q, Yao L, Wei F. Thermally Drawn-Based Microtubule Soft Continuum Robot for Cardiovascular Intervention. ACS APPLIED MATERIALS & INTERFACES 2024; 16:29783-29792. [PMID: 38811019 DOI: 10.1021/acsami.4c03885] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 05/31/2024]
Abstract
Cardiovascular disease is becoming the leading cause of human mortality. In order to address this, flexible continuum robots have emerged as a promising solution for miniaturizing and automating vascular interventional equipment for diagnosing and treating cardiovascular diseases. However, existing continuum robots used for vascular intervention face challenges such as large cross-sectional sizes, inadequate driving force, and lack of navigation control, preventing them from accessing cerebral blood vessels or capillaries for medical procedures. Additionally, the complex manufacturing process and high cost of soft continuum robots hinder their widespread clinical application. In this study, we propose a thermally drawn-based microtubule soft continuum robot that overcomes these limitations. The proposed robot has cross-sectional dimensions several orders of magnitude smaller than the smallest commercially available conduits, and it can be manufactured without any length restrictions. By utilizing a driving strategy based on liquid kinetic energy advancement and external magnetic field for steering, the robot can easily navigate within blood vessels and accurately reach the site of the lesion. This innovation holds the potential to achieve controlled navigation of the robot throughout the entire blood vessel, enabling in situ diagnosis and treatment of cardiovascular diseases.
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Affiliation(s)
- Xufeng Wang
- School of Mechanical Engineering and Automation, Fuzhou University, Minhou County, Fuzhou, Fujian 350108, China
| | - Wei Liu
- School of Mechanical Engineering and Automation, Fuzhou University, Minhou County, Fuzhou, Fujian 350108, China
| | - Qinzhou Luo
- School of Mechanical Engineering and Automation, Fuzhou University, Minhou County, Fuzhou, Fujian 350108, China
| | - Ligang Yao
- School of Mechanical Engineering and Automation, Fuzhou University, Minhou County, Fuzhou, Fujian 350108, China
| | - Fanan Wei
- School of Mechanical Engineering and Automation, Fuzhou University, Minhou County, Fuzhou, Fujian 350108, China
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2
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Xie Y, Hou X, Wang S. Design of a Novel Haptic Joystick for the Teleoperation of Continuum-Mechanism-Based Medical Robots. ROBOTICS 2023. [DOI: 10.3390/robotics12020052] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 03/31/2023] Open
Abstract
Continuum robots are increasingly used in medical applications and the master–slave-based architectures are still the most important mode of operation in human–machine interaction. However, the existing master control devices are not fully suitable for either the mechanical mechanism or the control method. This study proposes a brand-new, four-degree-of-freedom haptic joystick whose main control stick could rotate around a fixed point. The rotational inertia is reduced by mounting all powertrain components on the base plane. Based on the design, kinematic and static models are proposed for position perception and force output analysis, while at the same time gravity compensation is also performed to calibrate the system. Using a continuum-mechanism-based trans-esophageal ultrasound robot as the test platform, a master–slave teleoperation scheme with position–velocity mapping and variable impedance control is proposed to integrate the speed regulation on the master side and the force perception on the slave side. The experimental results show that the main accuracy of the design is within 1.6°. The workspace of the control sticks is −60° to 110° in pitch angle, −40° to 40° in yaw angle, −180° to 180° in roll angle, and −90° to 90° in translation angle. The standard deviation of force output is within 8% of the full range, and the mean absolute error is 1.36°/s for speed control and 0.055 N for force feedback. Based on this evidence, it is believed that the proposed haptic joystick is a good addition to the existing work in the field with well-developed and effective features to enable the teleoperation of continuum robots for medical applications.
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Shi P, Guo S, Jin X, Hirata H, Tamiya T, Kawanishi M. A novel catheter interaction simulating method for virtual reality interventional training systems. Med Biol Eng Comput 2023; 61:685-697. [PMID: 36585560 DOI: 10.1007/s11517-022-02730-w] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 03/10/2022] [Accepted: 12/09/2022] [Indexed: 12/31/2022]
Abstract
Endovascular robotic systems have been applied in robot-assisted interventional surgery to improve surgical safety and reduce radiation to surgeons. However, this surgery requires surgeons to be highly skilled at operating vascular interventional surgical robot. Virtual reality (VR) interventional training systems for robot-assisted interventional surgical training have many advantages over traditional training methods. For virtual interventional radiology, simulation of the behaviors of surgical tools (here mainly refers to catheter and guidewire) is a challenging work. In this paper, we developed a novel virtual reality interventional training system. This system is an extension of the endovascular robotic system. Because the master side of this system can be used for both the endovascular robotic system and the VR interventional training system, the proposed system improves training and reduces the cost of education. Moreover, we proposed a novel method to solve catheterization modeling during the interventional simulation. Our method discretizes the catheter by the collision points. The catheter between two adjacent collision points is treated as thin torsion-free elastic rods. The deformation of the rod is mainly affected by the force applied at the collision points. Meanwhile, the virtual contact force is determined by the collision points. This simplification makes the model more stable and reduces the computational complexity, and the behavior of the surgical tools can be approximated. Therefore, we realized the catheter interaction simulation and virtual force feedback for the proposed VR interventional training system. The performance of our method is experimentally validated.
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Affiliation(s)
- Peng Shi
- School of Medical Technology and Engineering, Henan University of Science and Technology, Luoyang, 471023, China.,Faculty of Engineering and Design, Kagawa University, 2217-20 Hayashi-Cho, Takamatsu, 760-8521, Japan
| | - Shuxiang Guo
- Key Laboratory of Convergence Medical Engineering System and Healthcare Technology, the Ministry of Industry and Information Technology, Beijing Institute of Technology, No. 5, Zhongguancun South Street, Haidian District, Beijing, 100081, China. .,Faculty of Engineering and Design, Kagawa University, 2217-20 Hayashi-Cho, Takamatsu, 760-8521, Japan.
| | - Xiaoliang Jin
- Faculty of Engineering and Design, Kagawa University, 2217-20 Hayashi-Cho, Takamatsu, 760-8521, Japan.,State Key Laboratory of Bioelectronics and the Jiangsu Key Laboratory of Remote Measurement and Control, School of Instrument Science and Engineering, Southeast University, Nanjing, 210096, China
| | - Hideyuki Hirata
- Faculty of Engineering and Design, Kagawa University, 2217-20 Hayashi-Cho, Takamatsu, 760-8521, Japan
| | - Takashi Tamiya
- Department of Neurological Surgery, Faculty of Medicine, Kagawa University, Takamatsu, 761-0793, Japan
| | - Masahiko Kawanishi
- Department of Neurological Surgery, Faculty of Medicine, Kagawa University, Takamatsu, 761-0793, Japan
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Design and evaluation of vascular interventional robot system for complex coronary artery lesions. Med Biol Eng Comput 2023; 61:1365-1380. [PMID: 36705768 DOI: 10.1007/s11517-023-02775-5] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Journal Information] [Subscribe] [Scholar Register] [Received: 09/30/2022] [Accepted: 01/05/2023] [Indexed: 01/28/2023]
Abstract
At present, most vascular intervention robots cannot cope with the more common coronary complex lesions in the clinic. Moreover, the lack of effective force feedback increases the risk of surgery. In this paper, a vascular interventional robot that can collaboratively deliver multiple interventional instruments has been developed to assist doctors in the operation of complex lesions. Based on the doctor's skills and the delivery principle of interventional instruments, the main and slave manipulators of the robot system are designed. Haptic force feedback is generated through resistance measuring mechanism and active drag system. In addition, a force feedback control strategy based on force-velocity mapping is proposed to realize the continuous change of force and avoid vibration. The proposed robot system was evaluated through a series of experiments. The experimental results show that the system can accurately measure the delivery resistance of interventional instruments, and provide haptic force feedback to doctors. The capability of the system to collaboratively deliver multiple interventional instruments is effective. Therefore, it can be considered that the robot system is feasible and effective.
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Zhou W, Guo S, Guo J, Chen Z, Meng F. Kinetics Analysis and ADRC-Based Controller for a String-Driven Vascular Intervention Surgical Robotic System. MICROMACHINES 2022; 13:mi13050770. [PMID: 35630237 PMCID: PMC9145301 DOI: 10.3390/mi13050770] [Citation(s) in RCA: 1] [Impact Index Per Article: 0.5] [Reference Citation Analysis] [Abstract] [Track Full Text] [Download PDF] [Figures] [Subscribe] [Scholar Register] [Received: 04/06/2022] [Revised: 05/09/2022] [Accepted: 05/11/2022] [Indexed: 02/01/2023]
Abstract
Vascular interventional surgery is a typical method for diagnosing and treating cardio-cerebrovascular diseases. However, a surgeon is exposed to significant X-radiation exposure when the operation is conducted for a long period of time. A vascular intervention surgical robotic system for assisting the surgeon is a promising approach to address the aforementioned issue. When developing the robotic system, a high displacement accuracy is crucial, and this can aid in enhancing operating efficiency and safety. In this study, a novel kinetics analysis and active disturbance rejection control (ADRC)-based controller is proposed to provide high accuracy for a string-driven robotic system. In this controller, kinetics analysis is initially used to improve the accuracy affected by the inner factors of the slave manipulator. Then, the ADRC controller is used to further improve the operating accuracy of the robotic system. Finally, the proposed controller is evaluated by conducting experiments on a vascular model. The results indicate maximum steady errors of 0.45 mm and 6.67°. The experimental results demonstrate that the proposed controller can satisfy the safety requirements of the string-driven robotic system.
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Affiliation(s)
- Wei Zhou
- School of Life Science, Beijing Institute of Technology, Beijing 100081, China; (W.Z.); (Z.C.); (F.M.)
| | - Shuxiang Guo
- School of Life Science, Beijing Institute of Technology, Beijing 100081, China; (W.Z.); (Z.C.); (F.M.)
- Key Laboratory of Convergence Medical Engineering System and Healthcare Technology, Ministry of Industry and Information Technology, School of Life Science, Beijing Institute of Technology, Beijing 100081, China
- Correspondence: (S.G.); (J.G.); Tel.: +86-186-0020-0326 (S.G.)
| | - Jin Guo
- School of Life Science, Beijing Institute of Technology, Beijing 100081, China; (W.Z.); (Z.C.); (F.M.)
- Correspondence: (S.G.); (J.G.); Tel.: +86-186-0020-0326 (S.G.)
| | - Zhengyang Chen
- School of Life Science, Beijing Institute of Technology, Beijing 100081, China; (W.Z.); (Z.C.); (F.M.)
| | - Fanxu Meng
- School of Life Science, Beijing Institute of Technology, Beijing 100081, China; (W.Z.); (Z.C.); (F.M.)
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Yang C, Guo S, Bao X. An Isomorphic Interactive Device for the Interventional Surgical Robot after In Vivo Study. MICROMACHINES 2022; 13:mi13010111. [PMID: 35056276 PMCID: PMC8778927 DOI: 10.3390/mi13010111] [Citation(s) in RCA: 7] [Impact Index Per Article: 3.5] [Reference Citation Analysis] [Abstract] [Track Full Text] [Download PDF] [Figures] [Subscribe] [Scholar Register] [Received: 12/14/2021] [Revised: 01/04/2022] [Accepted: 01/10/2022] [Indexed: 02/04/2023]
Abstract
Interventional surgical robots are widely used in neurosurgery to improve surgeons’ working environment and surgical safety. Based on the actual operational needs of surgeons’ feedback during preliminary in vivo experiments, this paper proposed an isomorphic interactive master controller for the master–slave interventional surgical robot. The isomorphic design of the controller allows surgeons to utilize their surgical skills during remote interventional surgeries. The controller uses the catheter and guidewire as the operating handle, the same as during actual surgeries. The collaborative operational structure design and the working methods followed the clinical operational skills. The linear force feedback and torque feedback devices were designed to improve the safety of surgeries under remote operating conditions. An eccentric force compensation was conducted to achieve accurate force feedback. Several experiments were carried out, such as calibration experiments, master–slave control performance evaluation experiments, and operation comparison experiments on the novel and previously used controllers. The experimental results show that the proposed controller can perform complex operations in remote surgery applications and has the potential for further animal experiment evaluations.
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Affiliation(s)
- Cheng Yang
- School of Automation, Beijing Institute of Technology, Beijing 100081, China;
- Key Laboratory of Convergence Biomedical Engineering System and Healthcare Technology, The Ministry of Industry and Information Technology, Beijing Institute of Technology, Beijing 100081, China
| | - Shuxiang Guo
- School of Automation, Beijing Institute of Technology, Beijing 100081, China;
- Key Laboratory of Convergence Biomedical Engineering System and Healthcare Technology, The Ministry of Industry and Information Technology, Beijing Institute of Technology, Beijing 100081, China
- Faculty of Engineering, Kagawa University, 2217-20 Hayashi-cho, Takamatsu 760-8521, Japan
- Correspondence: (S.G.); (X.B.)
| | - Xianqiang Bao
- Key Laboratory of Convergence Biomedical Engineering System and Healthcare Technology, The Ministry of Industry and Information Technology, Beijing Institute of Technology, Beijing 100081, China
- Correspondence: (S.G.); (X.B.)
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An Intravascular Catheter Bending Recognition Method for Interventional Surgical Robots. MACHINES 2022. [DOI: 10.3390/machines10010042] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 12/10/2022]
Abstract
Robot-assisted interventional surgery can greatly reduce the radiation received by surgeons during the operation, but the lack of force detection and force feedback is still a risk in the operation which may harm the patient. In those robotic surgeries, the traditional force detection methods may have measurement losses and errors caused by mechanical transmission and cannot identify the direction of the force. In this paper, an interventional surgery robot system with a force detection device is designed and a new force detection method based on strain gauges is proposed to detect the force and infer the bending direction of the catheter in the vessel by using BP neural network. In addition, genetic algorithm is used to optimize the BP neural network, and the error between the calculated results and the actual results is reduced by 37%, which improves the accuracy of catheter bending recognition. Combining this new method with traditional force sensors not only reduces the error caused by the traditional mechanical transmission, but also can detect the bending direction of the catheter in the blood vessel, which greatly improves the safety of the operation.
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Zhou W, Guo S, Guo J, Meng F, Chen Z. ADRC-Based Control Method for the Vascular Intervention Master-Slave Surgical Robotic System. MICROMACHINES 2021; 12:mi12121439. [PMID: 34945289 PMCID: PMC8707856 DOI: 10.3390/mi12121439] [Citation(s) in RCA: 8] [Impact Index Per Article: 2.7] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Download PDF] [Figures] [Subscribe] [Scholar Register] [Received: 11/04/2021] [Revised: 11/20/2021] [Accepted: 11/23/2021] [Indexed: 12/25/2022]
Abstract
In vascular interventional surgery, surgeons operate guidewires and catheters to diagnose and treat patients with the assistance of the digital subtraction angiography (DSA). Therefore, the surgeon will be exposed to X-rays for extended periods. To protect the surgeon, the development of a robot-assisted surgical system is of great significance. The displacement tracking accuracy is the most important issue to be considered in the development of the system. In this study, the active disturbance rejection control (ADRC) method is applied to guarantee displacement tracking accuracy. First, the core contents of the proportional–integral–derivative (PID) and ADRC methods are analyzed. Second, comparative evaluation experiments for incremental PID and ADRC methods are presented. The results show that the ADRC method has better performance of than that of the incremental PID method. Finally, the calibration experiments for the ADRC control method are implemented using the master–slave robotic system. These experiments demonstrate that the maximum tracking error is 0.87 mm using the ADRC method, effectively guaranteeing surgical safety.
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Affiliation(s)
- Wei Zhou
- School of Life Science, Beijing Institute of Technology, Beijing 100081, China; (W.Z.); (F.M.); (Z.C.)
| | - Shuxiang Guo
- School of Life Science, Beijing Institute of Technology, Beijing 100081, China; (W.Z.); (F.M.); (Z.C.)
- Key Laboratory of Convergence Medical Engineering System and Healthcare Technology, Ministry of Industry and Information Technology, School of Life Science, Beijing Institute of Technology, Beijing 100081, China
- Faculty of Engineering, Kagawa University, 2217-20 Hayashi-cho, Takamatsu 760-8521, Japan
- Correspondence: (S.G.); (J.G.); Tel.: +86-186-0020-0326 (S.G.)
| | - Jin Guo
- School of Life Science, Beijing Institute of Technology, Beijing 100081, China; (W.Z.); (F.M.); (Z.C.)
- Correspondence: (S.G.); (J.G.); Tel.: +86-186-0020-0326 (S.G.)
| | - Fanxu Meng
- School of Life Science, Beijing Institute of Technology, Beijing 100081, China; (W.Z.); (F.M.); (Z.C.)
| | - Zhengyang Chen
- School of Life Science, Beijing Institute of Technology, Beijing 100081, China; (W.Z.); (F.M.); (Z.C.)
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Shu X, Chen Q, Xie L. A novel robotic system for flexible ureteroscopy. Int J Med Robot 2020; 17:1-11. [DOI: 10.1002/rcs.2191] [Citation(s) in RCA: 10] [Impact Index Per Article: 2.5] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 08/13/2020] [Revised: 09/28/2020] [Accepted: 10/24/2020] [Indexed: 12/12/2022]
Affiliation(s)
- Xiongpeng Shu
- Institute of Forming Technology & Equipment Shanghai Jiao Tong University Shanghai China
| | - Qi Chen
- Department of Urology Renji Hospital School of Medicine Shanghai Jiao Tong University Shanghai China
| | - Le Xie
- Institute of Forming Technology & Equipment Shanghai Jiao Tong University Shanghai China
- Institute of Medical Robotics Shanghai Jiao Tong University Shanghai China
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Zhou J, Mei Z, Miao J, Mao J, Wang L, Wu D, Sun D, Zhao Y. A Remote-Controlled Robotic System with Safety Protection Strategy Based on Force-Sensing and Bending Feedback for Transcatheter Arterial Chemoembolization. MICROMACHINES 2020; 11:mi11090805. [PMID: 32854264 PMCID: PMC7569875 DOI: 10.3390/mi11090805] [Citation(s) in RCA: 7] [Impact Index Per Article: 1.8] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Download PDF] [Figures] [Subscribe] [Scholar Register] [Received: 07/24/2020] [Revised: 08/17/2020] [Accepted: 08/21/2020] [Indexed: 01/04/2023]
Abstract
Transcatheter arterial chemoembolization (TACE) is the common choice of non-open surgery for hepatocellular carcinoma (HCC) now. In this study, a simple TACE robotic system of 4-degree-of-freedom is proposed to get higher accuracy and stability of the surgery operation and reduce X-ray exposure time of the surgeons. The master-slave control strategy is adopted in the robotic system and a customized sigmoid function is designed to optimize the joystick control of the master-slave robotic control system. A force-sensing module is developed to sense the resistance of the guide wire in linear delivery motion and an auxiliary bending feedback method based on constraint pipe with a film sensor is proposed. With two force-sensing methods, the safety strategy of robotic motion with 9 different motion constraint coefficients is given and a human-computer interface is developed. The TACE robot would monitor the value of the force sensor and the analog voltage of the film sensor to adopt the corresponding motion constraint coefficient in every 10 ms. Vascular model experiments were performed to validate the robotic system, and the results showed that the safety strategy could improve the reliability of the operation with immediate speed constraint and avoid potential aggressive delivery.
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Affiliation(s)
- Junqiang Zhou
- Department of Mechanical and Electrical Engineering, Xiamen University, Xiamen 361102, China
| | - Ziyang Mei
- Department of Mechanical and Electrical Engineering, Xiamen University, Xiamen 361102, China
| | - Jia Miao
- Department of Mechanical and Electrical Engineering, Xiamen University, Xiamen 361102, China
| | - Jingsong Mao
- Department of Radiology, Xiang'an Hospital of Xiamen University, Xiamen 361102, China
| | - Lingyun Wang
- Department of Mechanical and Electrical Engineering, Xiamen University, Xiamen 361102, China
| | - Dezhi Wu
- Department of Mechanical and Electrical Engineering, Xiamen University, Xiamen 361102, China
| | - Daoheng Sun
- Department of Mechanical and Electrical Engineering, Xiamen University, Xiamen 361102, China
| | - Yang Zhao
- Department of Mechanical and Electrical Engineering, Xiamen University, Xiamen 361102, China
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A novel noncontact detection method of surgeon's operation for a master-slave endovascular surgery robot. Med Biol Eng Comput 2020; 58:871-885. [PMID: 32077011 DOI: 10.1007/s11517-020-02143-7] [Citation(s) in RCA: 7] [Impact Index Per Article: 1.8] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 06/20/2019] [Accepted: 02/11/2020] [Indexed: 12/20/2022]
Abstract
Master-slave endovascular interventional surgery (EIS) robots have brought revolutionary advantages to traditional EIS, such as avoiding X-ray radiation to the surgeon and improving surgical precision and safety. However, the master controllers of most of the current EIS robots always lead to bad human-machine interaction, because of the difference in nature between the rigid operating handle and the flexible medical catheter used in EIS. In this paper, a noncontact detection method is proposed, and a novel master controller is developed to realize real-time detection of surgeon's operation without interference to the surgeon. A medical catheter is used as the operating handle. It is enabled by using FAST corner detection algorithm and optical flow algorithm to track the corner points of the continuous markers on a designed sensing pipe. A mathematical model is established to calculate the axial and rotational motion of the sensing pipe according to the moving distance of the corner points in image coordinates. A master-slave EIS robot system is constructed by integrating the proposed master controller and a developed slave robot. Surgical task performance evaluation in an endovascular evaluator (EVE) is conducted, and the results indicate that the proposed detection method breaks through the axial measuring range limitation of the previous marker-based detection method. In addition, the rotational detection error is reduced by 92.5% compared with the previous laser-based detection method. The results also demonstrate the capability and efficiency of the proposed master controller to control the slave robot for surgical task implementation. Graphical abstract A novel master controller is developed to realize real-time noncontact detection of surgeon's operation without interference to the surgeon. The master controller is used to remotely control the slave robot to implement certain surgical tasks.
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