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A vascular interventional surgical robot based on surgeon’s operating skills

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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.

Surgeons perform remote interventional animal surgery using interventional surgical robots.

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Funding

This research is partly supported by the National High-tech Research and Development Program (863 Program) of China (No.2015AA043202), and National Natural Science Foundation of China (61375094).

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Authors and Affiliations

  1. Key Laboratory of Convergence Biomedical Engineering System and Healthcare Technology, The Ministry of Industry and Information Technology, School of Automation, Beijing Institute of Technology, No.5, Zhongguancun South Street, Haidian District, Beijing, 100081, China

    Cheng Yang, Shuxiang Guo, Xianqiang Bao, Nan Xiao & Liwei Shi

  2. Faculty of Engineering, Kagawa University, 2217-20 Hayashi-cho, Takamatsu, Kagawa, 760-8521, Japan

    Shuxiang Guo

  3. Department of Interventional Neuroradiology, Beijing Neurosurgical Institute and Beijing Tiantan Hospital, Capital Medical University, Beijing, 100050, China

    Youxiang Li & Yuhua Jiang

Authors
  1. Cheng Yang
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  2. Shuxiang Guo
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  3. Xianqiang Bao
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  4. Nan Xiao
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  5. Liwei Shi
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  6. Youxiang Li
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  7. Yuhua Jiang
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Correspondence to Shuxiang Guo or Nan Xiao.

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Yang, C., Guo, S., Bao, X. et al. A vascular interventional surgical robot based on surgeon’s operating skills. Med Biol Eng Comput 57, 1999–2010 (2019). https://doi.org/10.1007/s11517-019-02016-8

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  • DOI: https://doi.org/10.1007/s11517-019-02016-8

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