Abstract
Percutaneous coronary intervention (PCI) has become a common method for the treatment of cardiovascular diseases (CVDs). However, the accumulated X-ray radiation during the procedures greatly increases the probability of medical staff suffering from cataracts and brain tumors. This study bases on an existing vascular robotic system designed in our previous work. The main component of this robotic system is a bio-inspired Dual-finger Robotic Hand (DRH), which consists of a pair of bionic thumb and forefinger to imitate the surgical manipulations of interventionalists. This study is to evaluate the performance of the robotic system through a series of experiments: advancing a guidewire at different speeds and accelerations. The mean root mean square error (RMSe) of the actual and desired axial movements is 0.72 ± 0.49 mm, demonstrating the effectiveness and robustness of the robotic system.
This work was supported in part by the National Key Research and Development Program of China under Grant 2019YFB1311700; in part by the Youth Innovation Promotion Association of CAS under Grant 2020140; in part by the National Natural Science Foundation of China under Grant 61533016, Grant U1913601, and Grant 61421004; and in part by the Strategic Priority Research Program of CAS under Grant XDBS01040100.
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Wei, SY., Sun, XB., Zhou, XH., Hou, ZG. (2020). A Novel Vascular Robotic System: Performance Evaluation. In: Yang, H., Pasupa, K., Leung, A.CS., Kwok, J.T., Chan, J.H., King, I. (eds) Neural Information Processing. ICONIP 2020. Lecture Notes in Computer Science(), vol 12533. Springer, Cham. https://doi.org/10.1007/978-3-030-63833-7_61
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