Design and experimental evaluation of an automated catheter operating system

An Isomorphic Interactive Device for the Interventional Surgical Robot after In Vivo Study

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.

Inverse Kinematics of Concentric Tube Robots in the Presence of Environmental Constraints

Inverse kinematics (IK) of concentric tube continuum robots (CTRs) is associated with two main problems. First, the robot model (e.g., the relationship between the configuration space parameters and the robot end-effector) is not linear. Second, multiple solutions for the IK are available. This paper presents a general approach to solve the IK of CTRs in the presence of constrained environments. It is assumed that the distal tube of the CTR is inserted into a cavity while its proximal end is placed inside a tube resembling the vessel enabling the entry to the organ cavity. The robot-tissue interaction at the beginning of the organ-cavity imposed displacement and force constraints to the IK problem to secure a safe interaction between the robot and tissue. The IK in CTRs has been carried out by treating the problem as an optimization problem. To find the optimized IK of the CTR, the cost function is defined to be the minimization of input force into the body cavity and the occupied area by the robot shaft body. The optimization results show that CTRs can keep the safe force range in interaction with tissue for the specified trajectories of the distal tube. Various simulation scenarios are conducted to validate the approach. Using the IK obtained from the presented approach, the tracking accuracy is achieved as 0.01 mm which is acceptable for the application.