Paper Info
Title
A vascular interventional surgical robot based on surgeon's operating skills.
Abstract
Interventional surgery is widely used in the treatment of cardiovascular and cerebrovascular diseases, and the development of surgical robots can greatly reduce the fatigue and radiation risks brought to surgeons during surgery. In this paper, we present a novel interventional surgical robot which allows surgeons to fully use their operating skills during remote control. Fuzzy control theory is used to guarantee control precision during the master-slave operation. The safety force feedback control is designed based on the catheter and guidewire spring model, and the force-position control is designed to decrease the potential damage due to the control delay. This study first evaluates the force-position control strategy using a vascular model experiment, and then an in vivo experiment is used to evaluate the precision of the surgical robot controlling the catheter and guidewire to the designated position. The in vivo experiment results and surgeon’s feedback demonstrate that the proposed surgical robot is able to perform complex remote surgery in clinical application.
Year
DOI
Venue
2019
10.1007/s11517-019-02016-8
Medical & Biological Engineering & Computing
Keywords
Field
DocType
Vascular interventional surgery, Robot-assisted surgery, Master-slave control system, “In vivo” experiment
Catheter,Computer vision,Remote control,Control delay,Remote surgery,Artificial intelligence,Medical physics,Fuzzy control system,Robot,Mathematics,Haptic technology
Journal
Volume
Issue
ISSN
57
9
0140-0118
Citations 
PageRank 
References 
0
0.34
0
Authors
7
Name
Order
Citations
PageRank
Cheng Yang100.34
Shuxiang Guo2391106.41
Xianqiang Bao300.34
Nan Xiao4285.16
Liwei Shi5349.24
Youxiang Li601.35
Yuhua Jiang720.84