Skip to main content

Advertisement

SpringerLink
Log in

Force feedback controls of multi-gripper robotic endovascular intervention: design, prototype, and experiments

  • Original Article
  • Published:
International Journal of Computer Assisted Radiology and Surgery Aims and scope Submit manuscript

Abstract

Purpose

Robotic endovascular intervention system (REIS) has the advantages of telemanipulation without radiation damage, precise location, and isolation of hand quiver. However, current REIS lacks a force feedback, which leads to high clinical risks. For the high operational safety of remote operations, this research proposes a force feedback control method for a novel manipulator with multi-grippers and develops a prototype to verify its expected telepresence.

Methods

A high-resolution force sensor is used to acquire and transmit the intervention resistance force to the control handle. When the handle is translated or rotated, a loading mechanism composed of a servomotor, a screw pair, a spring, and friction roller generates the resistance force transmitted to the doctor’s hand through the handle. A force/displacement hybrid control and PID control algorithm are used for the smaller feedback force error and lower delay.

Results

This manipulator and its control handle are tested in the simulated catheter and vascular cases. The experiments show that force feedback precision can reach 0.05 N and the delay is not more than 50 ms, and the bandwidth is 9 Hz@-3 dB.

Conclusion

The proposed force feedback method can recreate resistance force from the intervention devices. The control model is valid with higher precision and wide bands, which has laid foundations to the application of REIS in clinic.

This is a preview of subscription content, log in via an institution to check access.

Access this article

Log in via an institution

Price excludes VAT (USA)
Tax calculation will be finalised during checkout.

Instant access to the full article PDF.

Institutional subscriptions

Fig. 1
Fig. 2
Fig. 3
Fig. 4
Fig. 5
Fig. 6
Fig. 7
Fig. 8
Fig. 9
Fig. 10
Fig. 11
Fig. 12
Fig. 13
Fig. 14

Similar content being viewed by others

Availability of data and material

Not applicable.

References

  1. Antoniou G, Riga CV, Mayer EK, Cheshire NW, Bicknell CD (2011) Clinical applications of robotic technology in vascular and endovascular surgery. J Vasc Surg 52:493–499

    Article  Google Scholar 

  2. Rafii-Tari H, Payne CJ, Yang GZ (2013) Current and emerging robot-assisted endovascular catheterization technologies: a review. Ann Biomed Eng 42:697–715

    Article  Google Scholar 

  3. Armacost MP, Adair J, Munger T (2007) Accurate and reproducible target navigation with the stereotaxis Niobe magnetic navigation system. Cardiovasc Electrophysiol 18:26–31

    Article  Google Scholar 

  4. Paolo D, Eugenio G (1996) Robotics for medical applications. IEEE Robot Autom Mag 3:44–56

    Article  Google Scholar 

  5. Granada JF, Delgado JA, Uribe MP, Fernandez A, Blanco G, Leon MB (2011) First-in-human evaluation of a novel robotic-assisted coronary angioplasty system. JACC Cardiovasc Interv 4:460–465

    Article  Google Scholar 

  6. Yogesh T, Jeffrey SB, Holdsworth WD, Drangova M (2009) Design and performance evaluation of a remote catheter navigation system. IEEE Trans Biomed Eng 56:1901–1908

    Article  Google Scholar 

  7. Thakur Y, Holdsworth WD, Drangova M (2009) Characterization of catheter dynamics during percutaneous transluminal catheter procedures. IEEE Trans Biomed Eng 56:2140–2143

    Article  Google Scholar 

  8. Park JW, Choi J, Park HN, Song SJ, Lee JC, Park Y, Shin SM, Sun K (2010) Development of a force-reflecting robotic platform for cardiac catheter navigation. Artif Organs 34:1034–1039

    Article  Google Scholar 

  9. Lu WS, Xu W, Pan F, Liu D, Tian ZM, Zeng Y (2016) Clinical application of a vascular interventional robot in cerebral angiography. Int J Med Robot Comput Assist Surg 12:132–136

    Article  Google Scholar 

  10. Peirs J, Clijnena J, Reynaertsa D, Brussel HV, Herijgers P, Corteville B, Boone S (2004) A micro optical force sensor for force feedback during minimally invasive robotic surgery. Sens Actuators A Phys 115:447–455

    Article  CAS  Google Scholar 

  11. Guo J, Guo SX, Yu Y (2016) Design and characteristics evaluation of a novel teleoperated robotic catheterization system with force feedback for vascular interventional surgery. Biomed Microdevices 18:76–92

    Article  Google Scholar 

  12. Guo J, Guo SX, Wang P, Wei W, Wang Y (2013) A novel type of catheter sidewall tactile sensor array for vascular interventional surgery. In: 2013 ICME international conference on complex medical engineering. pp 264–267

  13. Hu Z, Yoon CH, Park SB, Jo YH (2016) Design of a haptic device with grasp and push–pull force feedback for a master–slave surgical robot. Int J CARS 11:1361–1369

    Article  Google Scholar 

  14. Yoneyama T, Watanabe T, Kagawa H, Hamada J, Hayashi Y, Nakada M (2013) Force-detecting gripper and force feedback system for neurosurgery applications. Int J CARS 8:819–829

    Article  Google Scholar 

  15. Srimathveeravalli G, Kesavadas T, Li X (2010) Design and fabrication of a robotic mechanism for remote steering and positioning of interventional devices. Int J Med Robot Comput Assist Surg 6:160–170

    Google Scholar 

  16. Payne CJ, Ra-Tari H, Yang GZ (2012) A force feedback system for endovascular catheterization. In: 2012 IEEE/RSJ international conference on intelligent robotics and systems. pp 1298–1304

  17. Kesner SB, Howe RD (2011) Position control of motion compensation cardiac catheters. IEEE Trans Robot 27:1045–1055

    Article  Google Scholar 

  18. Kesner SB, Howe RD (2011) Force control of flexible catheter robots for beating heart surgery. In: Proceedings of the 2011 IEEE international conference on robotics and automation. IEEE, Shanghai, China, pp 1589–1594

  19. Razban M, Dargahi J, Boulet B (2018) A sensor-less catheter contact force estimation approach in endovascular intervention procedures. In: 2018 IEEE/RSJ international conference on intelligent robotics and systems. pp 2100–2106

  20. Zhang L, Guo SX, Yu H, Song Y, Song D (2018) Rotary encoder-based position transmission and feedback of a novel robotic catheter system for endovascular catheterization. In: 2018 IEEE international conference on information and automation. pp 32–36

  21. Dagnino G, Liu J, Abdelaziz ME, Chi W, Riga C, Yang GZ (2018) Haptic feedback and dynamic active constraints for robot assisted endovascular catheterization. In: 2018 IEEE/RSJ international conference on intelligent robotics and systems. pp 1770–1775

  22. Patel TM, Shah SC, Pancholy SB (2019) Long distance tele-robotic assisted percutaneous coronary intervention: a report of first-in-human experience. E Clin Med 14:53–58

    Google Scholar 

  23. Molinero MB, Dagnino G, Liu J, Chi W (2019) Haptic guidance for robot-assisted endovascular procedures: implementation and evaluation on surgical simulator. In: 2019 international conference on intelligent robotics and systems. pp 5398–5403

  24. Shigeru M, Yoshitaka N, Takahide H (2019) Support robot with sensory-motor feedback system for neuro-endovascular novel operation intervention. World Neurosurg 127:e617–e623

    Article  Google Scholar 

  25. Robocath (2020) Robocath successfully completes first robotic coronary angioplasties in Germany with R-One™. https://www.robocath.com/product/. Accessed 21 Jan 2020

  26. Liu L, Cao L, Liu D, Wang D, Cao XD (2014) Achieving for force feedback in master–slave vascular intervention systems. High Technol Lett 24:545–550

    CAS  Google Scholar 

  27. He CD, Sen W, Zhang HF (2000) Study on reaction time and movement time of fingers. Ergonomics 6:1–5

    Google Scholar 

Download references

Acknowledgements

The authors appreciate the help of the Shanghai Engineering Research Center for leading the intelligent diagnosis and treatment instrument (Grant Number 15DZ2252000). This work was partially supported by the Shanghai Science and Technology Pillar Program (Grant Number 18441900500).

Author information

Authors and Affiliations

  1. Department of Instrument Engineering, Shanghai Jiao Tong University, Shanghai, 200240, China

    Kundong Wang & Jianyun Liu

  2. Department of Automation, Shanghai Jiao Tong University, Shanghai, 200240, China

    Weiwu Yan

  3. Department of Vascular Surgery, Changhai Hospital, Shanghai, 200433, China

    Qingsheng Lu

  4. School of Medical Instrument and Food Engineering, University of Shanghai for Science and Technology, Shanghai, 200093, China

    Shengdong Nie

Authors
  1. Kundong Wang
    View author publications

    You can also search for this author in PubMed Google Scholar

  2. Jianyun Liu
    View author publications

    You can also search for this author in PubMed Google Scholar

  3. Weiwu Yan
    View author publications

    You can also search for this author in PubMed Google Scholar

  4. Qingsheng Lu
    View author publications

    You can also search for this author in PubMed Google Scholar

  5. Shengdong Nie
    View author publications

    You can also search for this author in PubMed Google Scholar

Corresponding authors

Correspondence to Kundong Wang or Qingsheng Lu.

Ethics declarations

Conflicts of interest

The authors declare that they have no conflict of interest.

Human and animal rights

This article does not contain any studies with human participants or animals performed by any of the authors.

Informed consent

This article does not contain patient data.

Additional information

Publisher's Note

Springer Nature remains neutral with regard to jurisdictional claims in published maps and institutional affiliations.

Rights and permissions

Reprints and permissions

About this article

Check for updates. Verify currency and authenticity via CrossMark

Cite this article

Wang, K., Liu, J., Yan, W. et al. Force feedback controls of multi-gripper robotic endovascular intervention: design, prototype, and experiments. Int J CARS 16, 179–192 (2021). https://doi.org/10.1007/s11548-020-02278-w

Download citation

  • Received:

  • Accepted:

  • Published:

  • Issue Date:

  • DOI: https://doi.org/10.1007/s11548-020-02278-w

Keywords

Search

Navigation