Articel intro - new vascular interventional surgery robot from Vas Medical
An article was published in Medical & Biological Engineering & Computing by Cheng
Yang, Shuxiang Guo, Xianqiang Bao, Nan Xiao, Liwei Shi, Youxiang Li & Yuhua Jiang: "A vascular interventional surgical robot based on surgeon’s operating skills".
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.
Keywords: Vascular interventional surgery . Robot-assisted surgery . Master-slave control system . “In vivo” experiment
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