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A novel robotic system for vascular intervention: principles, performances, and applications

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International Journal of Computer Assisted Radiology and Surgery Aims and scope Submit manuscript

Abstract

Purpose

This paper describes the design, principles, performances, and applications of a novel image-guided master–slave robotic system for vascular intervention (VI), including the performance evaluation and in vivo trials.

Methods

Based on the peer-to-peer (P2P) remote communication system, the kinetics analysis, the sliding-mode neural network self-adaptive control model and the feedback system, this new robotic system can accomplish in real time a number of VI operations, including guidewire translation and rotation, balloon catheter translation, and contrast agent injection. The master–slave design prevents surgeons from being exposed to X-ray radiation, which means that they are not required to wear a heavy lead suit. We also conducted a performance evaluation of the new system, which assessed the speed, position tracking, and accuracy, as well as in vivo swine trials.

Results

The speed and position tracking effects are really good, which contribute to the high level of performance in terms of the translational (error ≤ 0.45%) and rotational (error ≤ 2.6°) accuracy. In addition, the accuracy of the contrast agent injection is less than 0.2 ml. The robotic system successfully performed both the stent revascularization of an arteria carotis and four in vivo trials. The haptic feedback data correspond with the robotic-assisted procedure, and peaks and troughs of data occur regularly.

Conclusions

By means of the performance evaluation and four successful in vivo trials, the feasibility and efficiency of the new robotic system are validated, which should prove helpful for further research.

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Acknowledgements

This work was supported by High Technology Research and Development Program of China (863 Program, No. 2015AA043203), Natural Science Foundation of China (Nos. 61672341, 61471349), The project of Science and Technology Commission of Shanghai municipality (No. 17441903800), The project of major program of National Natural Science Foundation of China (Nos. 61190124, 61190120), Basic Discipline Layout Project of Shenzhen City (No. JCYJ20150731154850923).

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Author notes

  1. Hao Shen and Cheng Wang have contributed equally to this paper.

Authors and Affiliations

  1. Institute of Forming Technology and Equipment, Shanghai Jiao Tong University, Building Med-X, No. 1954, Huashan Road, Xuhui District, Shanghai, China

    Hao Shen & Le Xie

  2. Shenzhen Institutes of Advanced Technology, Chinese Academy of Sciences, Beijing, China

    Cheng Wang & Shoujun Zhou

  3. School of Biomedical Engineering, Shanghai Jiao Tong University, Xuhui, China

    Le Xie & Lixu Gu

  4. Peking Union Medical College Hospital, Beijing, China

    Hongzhi Xie

Authors
  1. Hao Shen
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  2. Cheng Wang
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  3. Le Xie
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  4. Shoujun Zhou
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  5. Lixu Gu
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  6. Hongzhi Xie
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Corresponding authors

Correspondence to Le Xie or Shoujun Zhou.

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Shen, H., Wang, C., Xie, L. et al. A novel robotic system for vascular intervention: principles, performances, and applications. Int J CARS 14, 671–683 (2019). https://doi.org/10.1007/s11548-018-01906-w

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  • DOI: https://doi.org/10.1007/s11548-018-01906-w

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