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Wang S, Liu Z, Cao Y, Zhang L, Xie L. Improved precise guidewire delivery of a cardiovascular interventional surgery robot based on admittance control. Int J Comput Assist Radiol Surg 2024; 19:209-221. [PMID: 37787938 DOI: 10.1007/s11548-023-03017-7] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Grants] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 02/21/2023] [Accepted: 09/07/2023] [Indexed: 10/04/2023]
Abstract
PURPOSE The development of cardiovascular interventional surgery robots can realize master-slave interventional operations, which will effectively solve the problem of surgeons being injured by X-ray radiation. The delivery accuracy and safety of interventional instruments such as guidewire are the most important issues in the development of robotic systems. Most of the current control methods are position control or force feedback control, which cannot take into account delivery accuracy and safety. METHODS A cardiovascular interventional surgery robotic system integrated force sensors is developed. A novel force/position controller, which includes a radial basis function neural networks-based inner loop position controller and a force-based admittance outer loop controller, is proposed. Furthermore, a series of simulations and vascular model experiments are carried out to demonstrate the feasibility and accuracy of the proposed controller. RESULTS The designed cardiovascular interventional robot is flexible to enter the target vessel branch. Experimental results indicate that the proposed controller can effectively improve the delivery accuracy of the guidewire and reduce the contact force with the vessel wall. CONCLUSIONS The proposed controller based on radial basis function neural network and admittance control is effective in improving delivery accuracy and reducing contact force. The algorithm needs to be further validated in vivo experiments.
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Affiliation(s)
- Shuang Wang
- Institute of Forming Technology and Equipment, Shanghai Jiao Tong University, Shanghai, 200240, China
- Institute of Medical Robotics, Shanghai Jiao Tong University, Shanghai, 200240, China
| | - Zheng Liu
- Institute of Forming Technology and Equipment, Shanghai Jiao Tong University, Shanghai, 200240, China
- Institute of Medical Robotics, Shanghai Jiao Tong University, Shanghai, 200240, China
| | - Yongfeng Cao
- Institute of Forming Technology and Equipment, Shanghai Jiao Tong University, Shanghai, 200240, China
- Institute of Medical Robotics, Shanghai Jiao Tong University, Shanghai, 200240, China
| | - Ling Zhang
- Institute of Forming Technology and Equipment, Shanghai Jiao Tong University, Shanghai, 200240, China
- Institute of Medical Robotics, Shanghai Jiao Tong University, Shanghai, 200240, China
| | - Le Xie
- Institute of Forming Technology and Equipment, Shanghai Jiao Tong University, Shanghai, 200240, China.
- Institute of Medical Robotics, Shanghai Jiao Tong University, Shanghai, 200240, China.
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Duan W, Akinyemi T, Du W, Ma J, Chen X, Wang F, Omisore O, Luo J, Wang H, Wang L. Technical and Clinical Progress on Robot-Assisted Endovascular Interventions: A Review. MICROMACHINES 2023; 14:197. [PMID: 36677258 PMCID: PMC9864595 DOI: 10.3390/mi14010197] [Citation(s) in RCA: 3] [Impact Index Per Article: 3.0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Figures] [Subscribe] [Scholar Register] [Received: 10/23/2022] [Revised: 01/05/2023] [Accepted: 01/12/2023] [Indexed: 06/17/2023]
Abstract
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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Affiliation(s)
- Wenke Duan
- Academy for Engineering and Technology, Fudan University, Shanghai 200433, China
- Shenzhen Institutes of Advanced Technology, Chinese Academy of Sciences, Shenzhen 518055, China
| | - Toluwanimi Akinyemi
- Shenzhen Institutes of Advanced Technology, Chinese Academy of Sciences, Shenzhen 518055, China
| | - Wenjing Du
- Shenzhen Institutes of Advanced Technology, Chinese Academy of Sciences, Shenzhen 518055, China
| | - Jun Ma
- Shenzhen Raysight Intelligent Medical Technology Co., Ltd., Shenzhen 518063, China
| | - Xingyu Chen
- Shenzhen Institutes of Advanced Technology, Chinese Academy of Sciences, Shenzhen 518055, China
| | - Fuhao Wang
- Academy for Engineering and Technology, Fudan University, Shanghai 200433, China
| | - Olatunji Omisore
- Shenzhen Institutes of Advanced Technology, Chinese Academy of Sciences, Shenzhen 518055, China
- Shenzhen Engineering Laboratory for Diagnosis & Treatment Key Technologies of Interventional Surgical Robots, Shenzhen 518055, China
| | - Jingjing Luo
- Academy for Engineering and Technology, Fudan University, Shanghai 200433, China
| | - Hongbo Wang
- Academy for Engineering and Technology, Fudan University, Shanghai 200433, China
| | - Lei Wang
- Shenzhen Institutes of Advanced Technology, Chinese Academy of Sciences, Shenzhen 518055, China
- Shenzhen Engineering Laboratory for Diagnosis & Treatment Key Technologies of Interventional Surgical Robots, Shenzhen 518055, China
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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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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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