Skip to main content
Hauptrubriken
CME Facharzt-Training Webinare Zeitschriften Bücher e.Medpedia Podcast
Service
Jobbörse Info & Hilfe
Fachgebiete
Anästhesiologie Allgemeinmedizin Arbeitsmedizin Augenheilkunde Chirurgie Dermatologie Gynäkologie und Geburtshilfe HNO Innere Medizin Kardiologie Neurologie Onkologie und Hämatologie Orthopädie und Unfallchirurgie Pädiatrie Pathologie Psychiatrie Radiologie Rechtsmedizin Urologie Zahnmedizin
Themen
Typ-2-Diabetes und Adipositas Klimawandel und Gesundheit Neues aus dem Markt Praxis und Beruf Seltene Erkrankungen GOÄ & EBM Panorama
Sammlungen
Kasuistiken Algorithmen & Infografiken Blickdiagnosen Arthropedia FlapFinder (für Dermatochirurgen) Videos Kongressberichterstattung Medizin für Apothekerinnen und Apotheker Fachpsychotherapie Für Ärztinnen und Ärzte in Weiterbildung Für Medizinstudierende Patientenratgeber
Erweiterte Suche
Anmelden
nach oben
International Journal of Computer Assisted Radiology and Surgery
Erschienen in:

08.03.2018 | Original Article

A linear stepping endovascular intervention robot with variable stiffness and force sensing

verfasst von: Chengbin He, Shuxin Wang, Siyang Zuo

Erschienen in: International Journal of Computer Assisted Radiology and Surgery | Ausgabe 5/2018

Einloggen, um Zugang zu erhalten

Abstract

Background/purpose

Robotic-assisted endovascular intervention surgery has attracted significant attention and interest in recent years. However, limited designs have focused on the variable stiffness mechanism of the catheter shaft. Flexible catheter needs to be partially switched to a rigid state that can hold its shape against external force to achieve a stable and effective insertion procedure. Furthermore, driving catheter in a similar way with manual procedures has the potential to make full use of the extensive experience from conventional catheter navigation. Besides driving method, force sensing is another significant factor for endovascular intervention.

Methods

This paper presents a variable stiffness catheterization system that can provide stable and accurate endovascular intervention procedure with a linear stepping mechanism that has a similar operation mode to the conventional catheter navigation. A specially designed shape-memory polymer tube with water cooling structure is used to achieve variable stiffness of the catheter. Hence, four FBG sensors are attached to the catheter tip in order to monitor the tip contact force situation with temperature compensation.

Results

Experimental results show that the actuation unit is able to deliver linear and rotational motions. We have shown the feasibility of FBG force sensing to reduce the effect of temperature and detect the tip contact force. The designed catheter can change its stiffness partially, and the stiffness of the catheter can be remarkably increased in rigid state. Hence, in the rigid state, the catheter can hold its shape against a \(1.8 \, \hbox {N} \,\hbox {cm}\) load. The prototype has also been validated with a vascular phantom, demonstrating the potential clinical value of the system.

Conclusion

The proposed system provides important insights into the design of compact robotic-assisted catheter incorporating effective variable stiffness mechanism and real-time force sensing for intraoperative endovascular intervention.
Literatur
1.
2.
Coles TR, Meglan D, John NW (2011) The role of haptics in medical training simulators: a survey of the state of the art. IEEE Trans Haptics 4(1):51–66CrossRefPubMed
3.
Rafiitari H, Payne CJ, Yang G-Z (2014) Current and emerging robot-assisted endovascular catheterization technologies: a review. Ann Biomed Eng 42(4):697–715CrossRef
4.
Biase LD, Wang Y, Horton R, Gallinghouse GJ, Mohanty P, Sanchez J, Patel D, Dare M, Canby R, Price LD, Zagrodzky J, Bailey S, Burkhardt JD, Natale A (2009) Ablation of atrial fibrillation utilizing robotic catheter navigation in comparison to manual navigation and ablation: singlecenter experience. J Cardiovasc Electrophysiol 20(12):1328–1335CrossRefPubMed
5.
Khan EM, Frumkin W, Ng GA, Neelagaru S, Abi-Samara FM, Lee J, Giudici M, Gohn D, Winkle RA, Sussman J, Knight BP, Berman A, Calkins H (2013) First experience with a novel robotic remote catheter system: Amigo\({}^{{\rm TM}}\) mapping trial. J Interv Card Electrophysiol 37(2):121–129CrossRefPubMed
6.
Antoniou GA, Riga CV, Mayer E, Cheshire NJ, Bicknell CD (2011) Clinical applications of robotic technology in vascular and endovascular surgery. J Vasc Surg 53(2):493–499CrossRefPubMed
7.
Thakur Y, Bax J, Holdsworth DW, Drangova M (2009) Design and performance evaluation of a remote catheter navigation system. IEEE Trans Biomed Eng 56(7):1901–1908CrossRefPubMed
8.
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(2):160–170
9.
Arai F, Fujimura R, Fukuda T, Negoro M (2002) New catheter driving method using linear stepping mechanism for intravascular neurosurgery. In: International conference on robotics and automation, vol 3. IEEE, pp 2944–2949
10.
Hausegger KA, Schedlbauer P, Deutschmann H, Tiesenhausen K (2001) Complications in endoluminal repair of abdominal aortic aneurysms. Eur J Radiol 39(1):22–33CrossRefPubMed
11.
Payne CJ, RafiiTari H, Yang G-Z (2012) A force feedback system for endovascular catheterization. In: International conference on intelligent robots and systems, pp 1298–1304
12.
Russo S, Dario P, Menciassi A (2015) A novel robotic platform for laser assisted transurethral surgery of the prostate. IEEE Trans Biomed Eng 62(2):489–500CrossRefPubMed
13.
Guo Y, Kong J, Liu H, Xiong H, Li G, Qin L (2016) A three-axis force fingertip sensor based on fiber Bragg grating. Sens Actuators A Phys 249:141–148CrossRef
14.
He X, Handa JT, Gehlbach PL, Taylor RH, Iordachita I (2014) A submillimetric 3-DOF force sensing instrument with integrated fiber Bragg grating for retinal microsurgery. IEEE Trans Biomed Eng 61(2):522–534CrossRefPubMedPubMedCentral
15.
Balicki M, Uneri A, Iordachita I, Handa JT, Gehlbach PL, Taylor RH (2010) Micro-force sensing in robot assisted membrane peeling for vitreoretinal surgery. Med Image Comput Comput Assist Interv 13:303–310PubMedPubMedCentral
16.
Naito K, Ando T, Wang J, Kiyomatsu H, Kobayashi E, Sakuma I (2014) Development of a force-sensing system for endoscopic submucosal dissection. In: The Hamlyn symposium on medical robot, pp 10–11
17.
Gonenc B, Balicki M, Handa J, Iordachita L, Gehlbach P, Riviere C, Taylor R (2012) Evaluation of a micro-force sensing handheld robot for vitreoretinal surgery. In: International conference on intelligent robots and systems, pp 4125–4130
18.
Zuo S, Masamune K, Kuwana K, Tomikawa M, Ieiri S, Ohdaira T, Hashizume M, Dohi T (2011) Nonmetallic rigidflexible outer sheath with pneumatic shapelocking mechanism and double curvature structure. Med Image Comput Comput Assist Interv 14:169–177PubMed
19.
Zuo S, Iijima K, Tokumiya T, Masamune K (2014) Variable stiffness outer sheath with “dragon skin” structure and negative pneumatic shape-locking mechanism. Int J Comput Assist Radiol Surg 9(5):857–865CrossRefPubMed
20.
Kim YJ, Cheng S, Kim S, Kim S, Iagnemma K (2014) A stiffness-adjustable hyperredundant manipulator using a variable neutralline mechanism for minimally invasive surgery. IEEE Trans Robot 30(2):382–395CrossRef
21.
Cianchetti M, Ranzani T, Gerboni G, Falco ID, Laschi C, Menciassi A (2013) STIFF-FLOP surgical manipulator: mechanical design and experimental characterization of the single module. In: International conference of intelligent robots and systems, pp 3576–3581
22.
Olson G (2013) Medical devices with variable stiffness. US Patent 8376960 B2
23.
Park G, Bement MT, Hartman DA, Smith RE, Farrar CR (2007) The use of active materials for machining processes: a review. Int J Mach Tools Manuf 47(15):2189–2206CrossRef
24.
Zhao R, Yao Y, Luo Y (2016) Development of a variable stiffness over tube based on low-melting-point-alloy for endoscopic surgery. J Med Devices Trans ASME 10(2):303–310
25.
Hill KO, Meltz G (1997) Fiber Bragg grating technology fundamentals and overview. J Lightware Technol 15(8):1263–1276CrossRef
26.
Iordachita I, Sun Z, Balicki M, Kang JU, Phee SJ, Handa JT, Gehlbach PL, Taylor RH (2009) A sub-millimetric, 0.25 mN resolution fully integrated fiber-optic force-sensing tool for retinal microsurgery. Int J Comput Assist Radiol Surg 4(4):383–390CrossRefPubMedPubMedCentral
27.
Teo AJT, Mishra A, Park I, Kim Y-J, Park W-T, Yoon Y-J (2016) Polymeric biomaterials for medical implants and devices. ACS Biomater 2:454–472CrossRef
28.
29.
Rafiitari H, Liu J, Lee S, Bicknell CD, Yang G-Z (2013) Learning-based modeling of endovascular navigation for collaborative robotic catheterization. Med Image Comput Comput Assist Interv 16:369–377
30.
Perna F, Heist KE, Danik SB, Barrett CD, Ruskin JN, Mansour M (2011) Assessment of catheter tip contact force resulting in cardiac perforation in swine atria using force sensing technology. Circ Arrthythmia Electrophysiol 4(2):218–224CrossRef
31.
World Health Organization Geneva (2005) Safe storage of blood. In: Bond K (ed) Manual on the management, maintenance and use of blood cold chain equipment. World Health Organization, Switzerland
Metadaten
Titel
A linear stepping endovascular intervention robot with variable stiffness and force sensing
verfasst von
Chengbin He
Shuxin Wang
Siyang Zuo
Publikationsdatum
08.03.2018
Verlag
Springer International Publishing
Erschienen in
International Journal of Computer Assisted Radiology and Surgery / Ausgabe 5/2018
Print ISSN: 1861-6410
Elektronische ISSN: 1861-6429
DOI
https://doi.org/10.1007/s11548-018-1722-x

Weitere Artikel der Ausgabe 5/2018

IMHOTEP: virtual reality framework for surgical applications

  • Original Article

High dynamic range ultrasound imaging

  • Original Article

Precisely positioning the tip of an instrument inserted through an orifice with a free wrist robot: application to prostate biopsies

  • Original Article

IPCAI 2018 Special Issue: Information Processing for Computer-Assisted Interventions, 9th International Conference 2018—Part 1

  • Guest Editorial

A cable-driven parallel manipulator with force sensing capabilities for high-accuracy tissue endomicroscopy

  • Open Access
  • Original Article

Retrieval and registration of long-range overlapping frames for scalable mosaicking of in vivo fetoscopy

  • Open Access
  • Original Article

Neu im Fachgebiet Radiologie

KI-gestütztes Mammografiescreening überzeugt im Praxistest

Mit dem Einsatz künstlicher Intelligenz lässt sich die Detektionsrate im Mammografiescreening offenbar deutlich steigern. Mehr unnötige Zusatzuntersuchungen sind laut der Studie aus Deutschland nicht zu befürchten.

Stumme Schlaganfälle − ein häufiger Nebenbefund im Kopf-CT?

In 4% der in der Notfallambulanz initiierten zerebralen Bildgebung sind „alte“ Schlaganfälle zu erkennen. Gar nicht so selten handelt es sich laut einer aktuellen Studie dabei um unbemerkte Insulte. Bietet sich hier womöglich die Chance auf ein effektives opportunistisches Screening?

Die elektronische Patientenakte kommt: Das sollten Sie jetzt wissen

Am 15. Januar geht die „ePA für alle“ zunächst in den Modellregionen an den Start. Doch schon bald soll sie in allen Praxen zum Einsatz kommen. Was ist jetzt zu tun? Was müssen Sie wissen? Wir geben in einem FAQ Antworten auf 21 Fragen.

Stören weiße Wände und viel Licht die Bildqualitätskontrolle?

Wenn es darum geht, die technische Qualität eines Mammogramms zu beurteilen, könnten graue Wandfarbe und reduzierte Beleuchtung im Bildgebungsraum von Vorteil sein. Darauf deuten zumindest Ergebnisse einer kleinen Studie hin. 

Update Radiologie

Bestellen Sie unseren Fach-Newsletter und bleiben Sie gut informiert.

Newsletter bestellen
Bildnachweise