Research on real-time detection system of catheter delivering force in vascular interventional robots_Journal of Biomedical Engineering

Authors：

LI Hui , ZHOU Hao ,  ZHAO Yan ,  ZHANG Jianhua , ZHANG Tianjing

The School of Mechanical Engineering, Hebei University of Technology, Tianjin 300401, P. R. China;

Corresponding?author：

ZHAO Yan, Email: yzhao@hebut.edu.cn; ZHANG Jianhua, Email: jhzhang@hebut.edu.cn

Keywords：

Vascular intervention; Interventional robot; Catheter operation force detection; Force feedback

DOI：

10.7507/1001-5515.202109080

Video：

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Abstract Full text Figures/Tables Video References Cited by

In existing vascular interventional surgical robots, it is difficult to accurately detect the delivery force of the catheter/guidewire at the slave side. Aiming to solve this problem, a real-time force detection system was designed for vascular interventional surgical (VIS) robots based on catheter push force. Firstly, the transfer process of catheter operating forces in the slave end of the interventional robot was analyzed and modeled, and the design principle of the catheter operating force detection system was obtained. Secondly, based on the principle of stress and strain, a torque sensor was designed and integrated into the internal transmission shaft of the slave end of the interventional robot, and a data acquisition and processing system was established. Thirdly, an ATI high-precision torque sensor was used to build the experimental platform, and the designed sensor was tested and calibrated. Finally, sensor test experiments under ideal static/dynamic conditions and simulated catheter delivery tests based on actual human computed tomography (CT) data and vascular model were carried out. The results showed that the average relative detection error of the designed sensor system was 1.26% under ideal static conditions and 1.38% under ideal dynamic stability conditions. The system can detect on-line catheter operation force at high precision, which is of great significance towards improving patient safety in interventional robotic surgery.

Citation： LI Hui, ZHOU Hao, ZHAO Yan, ZHANG Jianhua, ZHANG Tianjing. Research on real-time detection system of catheter delivering force in vascular interventional robots. Journal of Biomedical Engineering, 2022, 39(2): 359-369. doi: 10.7507/1001-5515.202109080 Copy

1.	王卓群, 趙文華. 我國慢性病防控工作回顧與展望. 中華疾病控制雜志, 2019, 23(9): 1025-1028.
2.	秦奎. 我國心腦血管疾病監測現狀與發展. 應用預防醫學, 2020, 26(3): 265-268.
3.	李盛林, 沈杰, 言勇華, 等. 介入式手術機器人進展. 中國醫療器械雜志, 2013(2): 119-122.
4.	倪自強, 王田苗, 劉達. 醫療機器人技術發展綜述. 機械工程學報, 2015, 51(13): 45-52.
5.	Antoniou G A, Riga C V, Mayer E K, et al. Clinical applications of robotic technology in vascular and endovascular surgery. J Vasc Surg, 2011, 53(2): 493-499.
6.	趙含霖, 謝曉亮, 奉振球, 等. 血管介入手術機器人系統綜述. 中國醫療設備, 2020, 35(12): 11-16.
7.	Saliba W, Reddy V Y, Wazni O, et al. Atrial fibrillation ablation using a robotic catheter remote control system. J Am Coll Cardiol, 2008, 51(25): 2407-2411.
8.	Granada J F, Delgado J A, Uribe M P, et al. First-in-human evaluation of a novel robotic-assisted coronary angioplasty system. JACC Cardiovasc Interv, 2011, 4(4): 460-465.
9.	Bismuth J, Duran C, Stankovic M, et al. A first-in-man study of the role of flexible robotics in overcoming navigation challenges in the iliofemoral arteries. J Vasc Surg, 2013, 57(2): 14S-19S.
10.	Wutzler A, Wolber T, Haverkamp W, et al. Robotic ablation of atrial fibrillation. J Vis Exp, 2015(99): e52560.
11.	奉振球, 侯增廣, 邊桂彬, 等. 微創血管介入手術機器人的主從交互控制方法與實現. 自動化學報, 2016, 42(5): 696-705.
12.	付宜利, 高安柱, 劉浩, 等. 導管機器人系統的主從介入. 機器人, 2011, 33(5): 579-591.
13.	Wang K, Lu Q, Chen B, et al. Endovascular intervention robot with multi-manipulators for surgical procedures: dexterity, adaptability, and practicability. Robot Comput Integr Manuf, 2019, 56: 75-84.
14.	曹彤, 王棟, 劉達, 等. 主從式遙操作血管介入機器人. 東北大學學報(自然科學版), 2014, 35(4): 569.
15.	Shen H, Wang C, Xie L, et al. A novel robotic system for vascular intervention: principles, performances, and applications. Int J Comput Ass Rad, 2019: 1-13.
16.	Fu Y, Gao A, Liu H, et al. Development of a novel robotic catheter system for endovascular minimally invasive surgery// 2011 IEEE International Conference on Complex Medical Engineering (ICME). Harbin: IEEE, 2011: 400-405.
17.	Payne C J, Rafii-Tari H, Yang G Z. A force feedback system for endovascular catheterisation// 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). Vilamoura: IEEE, 2012: 1298-1304.
18.	Dagnino G, Liu J, Abdelaziz M E M K, et al. Haptic feedback and dynamic active constraints for robot-assisted endovascular catheterization// 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). Madrid: IEEE, 2018: 1770-1775.
19.	Park J W, Choi J, Park Y, et al. Haptic virtual fixture for robotic cardiac catheter navigation. Artif Organs, 2011, 35(11): 1127-1131.
20.	Zhao Y, Guo S, Xiao N, et al. Operating force information on-line acquisition of a novel slave manipulator for vascular interventional surgery. Biomed Microdevices, 2018, 20(2): 1-13.
21.	王洪波, 關博, 閆勇敢, 等. 微創血管介入手術機器人的力反饋與定位精度分析. 中國科技論文, 2020, 15(11): 1260-1269.
22.	Kim U, Lee D H, Yoon W J, et al. Force sensor integrated surgical forceps for minimally invasive robotic surgery. IEEE T Robot, 2015, 31(5): 1214-1224.
23.	田立志. 面向腹腔鏡手術的力反饋型微器械研究. 哈爾濱: 哈爾濱工業大學, 2010.
24.	Moradi Dalvand M, Shirinzadeh B, Shamdani A H, et al. An actuated force feedback‐enabled laparoscopic instrument for robotic‐assisted surgery. Int J Med Robot Comp, 2014, 10(1): 11-21.
25.	Rafii H, Payne C J, Yang G Z. Current and emerging robot-assisted endovascular catheterization technologies: a review. Ann Biomed Eng, 2014, 42(4): 697-715.
26.	張舒怡, 曲新凱, 韓文正. 血管介入機器人輔助技術的研究進展. 中國心血管病研究, 2021, 19(8): 764-768.
27.	楊世平, 范輝, 朱廣輝. 直齒圓柱齒輪嚙合效率的計算與分析. 機械傳動, 2017, 41(2): 148-151.
28.	范瑛, 譚云, 陶萍, 等. 鈹青銅的性能研究綜述. 材料導報, 2014, 28(S1): 100-103.
29.	方森鵬, 陳樂平, 周全, 等. 高性能鈹青銅研究進展. 鑄造技術, 2020, 41(4): 384-390.
30.	眭晨鑫, 付莊, 付澤宇, 等. 血管介入機器人無線力檢測模塊設計. 機械與電子, 2020, 38(6): 62-66.
31.	賴碁, 光雪峰, 尹小龍, 等. 血栓抽吸導管在不穩定型心絞痛介入治療術中無復流時的應用. 昆明醫科大學學報, 2016, 37(11): 51-54.

1. 王卓群, 趙文華. 我國慢性病防控工作回顧與展望. 中華疾病控制雜志, 2019, 23(9): 1025-1028.
2. 秦奎. 我國心腦血管疾病監測現狀與發展. 應用預防醫學, 2020, 26(3): 265-268.
3. 李盛林, 沈杰, 言勇華, 等. 介入式手術機器人進展. 中國醫療器械雜志, 2013(2): 119-122.
4. 倪自強, 王田苗, 劉達. 醫療機器人技術發展綜述. 機械工程學報, 2015, 51(13): 45-52.
5. Antoniou G A, Riga C V, Mayer E K, et al. Clinical applications of robotic technology in vascular and endovascular surgery. J Vasc Surg, 2011, 53(2): 493-499.
6. 趙含霖, 謝曉亮, 奉振球, 等. 血管介入手術機器人系統綜述. 中國醫療設備, 2020, 35(12): 11-16.
7. Saliba W, Reddy V Y, Wazni O, et al. Atrial fibrillation ablation using a robotic catheter remote control system. J Am Coll Cardiol, 2008, 51(25): 2407-2411.
8. Granada J F, Delgado J A, Uribe M P, et al. First-in-human evaluation of a novel robotic-assisted coronary angioplasty system. JACC Cardiovasc Interv, 2011, 4(4): 460-465.
9. Bismuth J, Duran C, Stankovic M, et al. A first-in-man study of the role of flexible robotics in overcoming navigation challenges in the iliofemoral arteries. J Vasc Surg, 2013, 57(2): 14S-19S.
10. Wutzler A, Wolber T, Haverkamp W, et al. Robotic ablation of atrial fibrillation. J Vis Exp, 2015(99): e52560.
11. 奉振球, 侯增廣, 邊桂彬, 等. 微創血管介入手術機器人的主從交互控制方法與實現. 自動化學報, 2016, 42(5): 696-705.
12. 付宜利, 高安柱, 劉浩, 等. 導管機器人系統的主從介入. 機器人, 2011, 33(5): 579-591.
13. Wang K, Lu Q, Chen B, et al. Endovascular intervention robot with multi-manipulators for surgical procedures: dexterity, adaptability, and practicability. Robot Comput Integr Manuf, 2019, 56: 75-84.
14. 曹彤, 王棟, 劉達, 等. 主從式遙操作血管介入機器人. 東北大學學報(自然科學版), 2014, 35(4): 569.
15. Shen H, Wang C, Xie L, et al. A novel robotic system for vascular intervention: principles, performances, and applications. Int J Comput Ass Rad, 2019: 1-13.
16. Fu Y, Gao A, Liu H, et al. Development of a novel robotic catheter system for endovascular minimally invasive surgery// 2011 IEEE International Conference on Complex Medical Engineering (ICME). Harbin: IEEE, 2011: 400-405.
17. Payne C J, Rafii-Tari H, Yang G Z. A force feedback system for endovascular catheterisation// 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). Vilamoura: IEEE, 2012: 1298-1304.
18. Dagnino G, Liu J, Abdelaziz M E M K, et al. Haptic feedback and dynamic active constraints for robot-assisted endovascular catheterization// 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). Madrid: IEEE, 2018: 1770-1775.
19. Park J W, Choi J, Park Y, et al. Haptic virtual fixture for robotic cardiac catheter navigation. Artif Organs, 2011, 35(11): 1127-1131.
20. Zhao Y, Guo S, Xiao N, et al. Operating force information on-line acquisition of a novel slave manipulator for vascular interventional surgery. Biomed Microdevices, 2018, 20(2): 1-13.
21. 王洪波, 關博, 閆勇敢, 等. 微創血管介入手術機器人的力反饋與定位精度分析. 中國科技論文, 2020, 15(11): 1260-1269.
22. Kim U, Lee D H, Yoon W J, et al. Force sensor integrated surgical forceps for minimally invasive robotic surgery. IEEE T Robot, 2015, 31(5): 1214-1224.
23. 田立志. 面向腹腔鏡手術的力反饋型微器械研究. 哈爾濱: 哈爾濱工業大學, 2010.
24. Moradi Dalvand M, Shirinzadeh B, Shamdani A H, et al. An actuated force feedback‐enabled laparoscopic instrument for robotic‐assisted surgery. Int J Med Robot Comp, 2014, 10(1): 11-21.
25. Rafii H, Payne C J, Yang G Z. Current and emerging robot-assisted endovascular catheterization technologies: a review. Ann Biomed Eng, 2014, 42(4): 697-715.
26. 張舒怡, 曲新凱, 韓文正. 血管介入機器人輔助技術的研究進展. 中國心血管病研究, 2021, 19(8): 764-768.
27. 楊世平, 范輝, 朱廣輝. 直齒圓柱齒輪嚙合效率的計算與分析. 機械傳動, 2017, 41(2): 148-151.
28. 范瑛, 譚云, 陶萍, 等. 鈹青銅的性能研究綜述. 材料導報, 2014, 28(S1): 100-103.
29. 方森鵬, 陳樂平, 周全, 等. 高性能鈹青銅研究進展. 鑄造技術, 2020, 41(4): 384-390.
30. 眭晨鑫, 付莊, 付澤宇, 等. 血管介入機器人無線力檢測模塊設計. 機械與電子, 2020, 38(6): 62-66.
31. 賴碁, 光雪峰, 尹小龍, 等. 血栓抽吸導管在不穩定型心絞痛介入治療術中無復流時的應用. 昆明醫科大學學報, 2016, 37(11): 51-54.

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