An Endovascular Catheterization Robotic System Using Collaborative Operation with Magnetically Controlled Haptic Force Feedback

Micromachines

Masahiko Kawanishi¹  Xiaoliang Jin²  Peng Shi²  Shuxiang Guo²  Xinming Li² 

[1] Department of Neurological Surgery, Kagawa University, Takamatsu 761-0793, Japan;Graduate School of Engineering, Kagawa University, Takamatsu 761-0396, Japan;

关键词: endovascular catheterization robotic system (ECRS);    magnetically controlled haptic (MCH) force feedback;    collaborative operation;    robot-assisted surgery;   

DOI  :  10.3390/mi13040505

来源: DOAJ

【 摘 要 】

Robot-assisted technology is often used to perform endovascular catheterization surgeries, which generally depend on the flexible operability and the accurate force feedback of a robotic system. In this paper, an endovascular catheterization robotic system (ECRS) was developed to improve collaborative operation and haptic force feedback. A couple of operating handles were designed to maximize the use of the natural operations of surgeons on the master side, which is a flexible and ergonomic device. A magnetically controlled haptic force feedback structure is proposed based on hydrogel and solid magnetorheological (MR) fluid to offer a sense of haptic feedback to operators; this has potential influence on the field of force feedback. In addition, a unique tremor-reduction structure is introduced to enhance operating safety. Tracking performance experiments and in vitro experiments were conducted to evaluate the performance of the developed ECRS. According to these experimental results, the average translation-tracking error is 0.94 mm, and the average error of rotation is 0.89 degrees. Moreover, in vitro experiments demonstrated that haptic feedback has the advantage of reducing workload and shortening surgery completion time. The developed ECRS also has the benefits of inspiring other researchers to study collaborative robots and magnetically controlled feedback.

【 授权许可】

Unknown