Research on real-time detection system of catheter delivering force in vascular interventional robots_Journal of Biomedical Engineering

Authors：

LI Hui , ZHOU Hao ,  ZHAO Yan ,  ZHANG Jianhua , ZHANG Tianjing

The School of Mechanical Engineering, Hebei University of Technology, Tianjin 300401, P. R. China;

Corresponding author：

ZHAO Yan, Email: yzhao@hebut.edu.cn; ZHANG Jianhua, Email: jhzhang@hebut.edu.cn

Keywords：

Vascular intervention; Interventional robot; Catheter operation force detection; Force feedback

DOI：

10.7507/1001-5515.202109080

Video：

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Abstract Full text Figures/Tables Video References Cited by

In existing vascular interventional surgical robots, it is difficult to accurately detect the delivery force of the catheter/guidewire at the slave side. Aiming to solve this problem, a real-time force detection system was designed for vascular interventional surgical (VIS) robots based on catheter push force. Firstly, the transfer process of catheter operating forces in the slave end of the interventional robot was analyzed and modeled, and the design principle of the catheter operating force detection system was obtained. Secondly, based on the principle of stress and strain, a torque sensor was designed and integrated into the internal transmission shaft of the slave end of the interventional robot, and a data acquisition and processing system was established. Thirdly, an ATI high-precision torque sensor was used to build the experimental platform, and the designed sensor was tested and calibrated. Finally, sensor test experiments under ideal static/dynamic conditions and simulated catheter delivery tests based on actual human computed tomography (CT) data and vascular model were carried out. The results showed that the average relative detection error of the designed sensor system was 1.26% under ideal static conditions and 1.38% under ideal dynamic stability conditions. The system can detect on-line catheter operation force at high precision, which is of great significance towards improving patient safety in interventional robotic surgery.

Citation： LI Hui, ZHOU Hao, ZHAO Yan, ZHANG Jianhua, ZHANG Tianjing. Research on real-time detection system of catheter delivering force in vascular interventional robots. Journal of Biomedical Engineering, 2022, 39(2): 359-369. doi: 10.7507/1001-5515.202109080 Copy

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2.	秦奎. 我国心脑血管疾病监测现状与发展. 应用预防医学, 2020, 26(3): 265-268.
3.	李盛林, 沈杰, 言勇华, 等. 介入式手术机器人进展. 中国医疗器械杂志, 2013(2): 119-122.
4.	倪自强, 王田苗, 刘达. 医疗机器人技术发展综述. 机械工程学报, 2015, 51(13): 45-52.
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6.	赵含霖, 谢晓亮, 奉振球, 等. 血管介入手术机器人系统综述. 中国医疗设备, 2020, 35(12): 11-16.
7.	Saliba W, Reddy V Y, Wazni O, et al. Atrial fibrillation ablation using a robotic catheter remote control system. J Am Coll Cardiol, 2008, 51(25): 2407-2411.
8.	Granada J F, Delgado J A, Uribe M P, et al. First-in-human evaluation of a novel robotic-assisted coronary angioplasty system. JACC Cardiovasc Interv, 2011, 4(4): 460-465.
9.	Bismuth J, Duran C, Stankovic M, et al. A first-in-man study of the role of flexible robotics in overcoming navigation challenges in the iliofemoral arteries. J Vasc Surg, 2013, 57(2): 14S-19S.
10.	Wutzler A, Wolber T, Haverkamp W, et al. Robotic ablation of atrial fibrillation. J Vis Exp, 2015(99): e52560.
11.	奉振球, 侯增广, 边桂彬, 等. 微创血管介入手术机器人的主从交互控制方法与实现. 自动化学报, 2016, 42(5): 696-705.
12.	付宜利, 高安柱, 刘浩, 等. 导管机器人系统的主从介入. 机器人, 2011, 33(5): 579-591.
13.	Wang K, Lu Q, Chen B, et al. Endovascular intervention robot with multi-manipulators for surgical procedures: dexterity, adaptability, and practicability. Robot Comput Integr Manuf, 2019, 56: 75-84.
14.	曹彤, 王栋, 刘达, 等. 主从式遥操作血管介入机器人. 东北大学学报(自然科学版), 2014, 35(4): 569.
15.	Shen H, Wang C, Xie L, et al. A novel robotic system for vascular intervention: principles, performances, and applications. Int J Comput Ass Rad, 2019: 1-13.
16.	Fu Y, Gao A, Liu H, et al. Development of a novel robotic catheter system for endovascular minimally invasive surgery// 2011 IEEE International Conference on Complex Medical Engineering (ICME). Harbin: IEEE, 2011: 400-405.
17.	Payne C J, Rafii-Tari H, Yang G Z. A force feedback system for endovascular catheterisation// 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). Vilamoura: IEEE, 2012: 1298-1304.
18.	Dagnino G, Liu J, Abdelaziz M E M K, et al. Haptic feedback and dynamic active constraints for robot-assisted endovascular catheterization// 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). Madrid: IEEE, 2018: 1770-1775.
19.	Park J W, Choi J, Park Y, et al. Haptic virtual fixture for robotic cardiac catheter navigation. Artif Organs, 2011, 35(11): 1127-1131.
20.	Zhao Y, Guo S, Xiao N, et al. Operating force information on-line acquisition of a novel slave manipulator for vascular interventional surgery. Biomed Microdevices, 2018, 20(2): 1-13.
21.	王洪波, 关博, 闫勇敢, 等. 微创血管介入手术机器人的力反馈与定位精度分析. 中国科技论文, 2020, 15(11): 1260-1269.
22.	Kim U, Lee D H, Yoon W J, et al. Force sensor integrated surgical forceps for minimally invasive robotic surgery. IEEE T Robot, 2015, 31(5): 1214-1224.
23.	田立志. 面向腹腔镜手术的力反馈型微器械研究. 哈尔滨: 哈尔滨工业大学, 2010.
24.	Moradi Dalvand M, Shirinzadeh B, Shamdani A H, et al. An actuated force feedback‐enabled laparoscopic instrument for robotic‐assisted surgery. Int J Med Robot Comp, 2014, 10(1): 11-21.
25.	Rafii H, Payne C J, Yang G Z. Current and emerging robot-assisted endovascular catheterization technologies: a review. Ann Biomed Eng, 2014, 42(4): 697-715.
26.	张舒怡, 曲新凯, 韩文正. 血管介入机器人辅助技术的研究进展. 中国心血管病研究, 2021, 19(8): 764-768.
27.	杨世平, 范辉, 朱广辉. 直齿圆柱齿轮啮合效率的计算与分析. 机械传动, 2017, 41(2): 148-151.
28.	范瑛, 谭云, 陶萍, 等. 铍青铜的性能研究综述. 材料导报, 2014, 28(S1): 100-103.
29.	方森鹏, 陈乐平, 周全, 等. 高性能铍青铜研究进展. 铸造技术, 2020, 41(4): 384-390.
30.	眭晨鑫, 付庄, 付泽宇, 等. 血管介入机器人无线力检测模块设计. 机械与电子, 2020, 38(6): 62-66.
31.	赖碁, 光雪峰, 尹小龙, 等. 血栓抽吸导管在不稳定型心绞痛介入治疗术中无复流时的应用. 昆明医科大学学报, 2016, 37(11): 51-54.

1. 王卓群, 赵文华. 我国慢性病防控工作回顾与展望. 中华疾病控制杂志, 2019, 23(9): 1025-1028.
2. 秦奎. 我国心脑血管疾病监测现状与发展. 应用预防医学, 2020, 26(3): 265-268.
3. 李盛林, 沈杰, 言勇华, 等. 介入式手术机器人进展. 中国医疗器械杂志, 2013(2): 119-122.
4. 倪自强, 王田苗, 刘达. 医疗机器人技术发展综述. 机械工程学报, 2015, 51(13): 45-52.
5. Antoniou G A, Riga C V, Mayer E K, et al. Clinical applications of robotic technology in vascular and endovascular surgery. J Vasc Surg, 2011, 53(2): 493-499.
6. 赵含霖, 谢晓亮, 奉振球, 等. 血管介入手术机器人系统综述. 中国医疗设备, 2020, 35(12): 11-16.
7. Saliba W, Reddy V Y, Wazni O, et al. Atrial fibrillation ablation using a robotic catheter remote control system. J Am Coll Cardiol, 2008, 51(25): 2407-2411.
8. Granada J F, Delgado J A, Uribe M P, et al. First-in-human evaluation of a novel robotic-assisted coronary angioplasty system. JACC Cardiovasc Interv, 2011, 4(4): 460-465.
9. Bismuth J, Duran C, Stankovic M, et al. A first-in-man study of the role of flexible robotics in overcoming navigation challenges in the iliofemoral arteries. J Vasc Surg, 2013, 57(2): 14S-19S.
10. Wutzler A, Wolber T, Haverkamp W, et al. Robotic ablation of atrial fibrillation. J Vis Exp, 2015(99): e52560.
11. 奉振球, 侯增广, 边桂彬, 等. 微创血管介入手术机器人的主从交互控制方法与实现. 自动化学报, 2016, 42(5): 696-705.
12. 付宜利, 高安柱, 刘浩, 等. 导管机器人系统的主从介入. 机器人, 2011, 33(5): 579-591.
13. Wang K, Lu Q, Chen B, et al. Endovascular intervention robot with multi-manipulators for surgical procedures: dexterity, adaptability, and practicability. Robot Comput Integr Manuf, 2019, 56: 75-84.
14. 曹彤, 王栋, 刘达, 等. 主从式遥操作血管介入机器人. 东北大学学报(自然科学版), 2014, 35(4): 569.
15. Shen H, Wang C, Xie L, et al. A novel robotic system for vascular intervention: principles, performances, and applications. Int J Comput Ass Rad, 2019: 1-13.
16. Fu Y, Gao A, Liu H, et al. Development of a novel robotic catheter system for endovascular minimally invasive surgery// 2011 IEEE International Conference on Complex Medical Engineering (ICME). Harbin: IEEE, 2011: 400-405.
17. Payne C J, Rafii-Tari H, Yang G Z. A force feedback system for endovascular catheterisation// 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). Vilamoura: IEEE, 2012: 1298-1304.
18. Dagnino G, Liu J, Abdelaziz M E M K, et al. Haptic feedback and dynamic active constraints for robot-assisted endovascular catheterization// 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). Madrid: IEEE, 2018: 1770-1775.
19. Park J W, Choi J, Park Y, et al. Haptic virtual fixture for robotic cardiac catheter navigation. Artif Organs, 2011, 35(11): 1127-1131.
20. Zhao Y, Guo S, Xiao N, et al. Operating force information on-line acquisition of a novel slave manipulator for vascular interventional surgery. Biomed Microdevices, 2018, 20(2): 1-13.
21. 王洪波, 关博, 闫勇敢, 等. 微创血管介入手术机器人的力反馈与定位精度分析. 中国科技论文, 2020, 15(11): 1260-1269.
22. Kim U, Lee D H, Yoon W J, et al. Force sensor integrated surgical forceps for minimally invasive robotic surgery. IEEE T Robot, 2015, 31(5): 1214-1224.
23. 田立志. 面向腹腔镜手术的力反馈型微器械研究. 哈尔滨: 哈尔滨工业大学, 2010.
24. Moradi Dalvand M, Shirinzadeh B, Shamdani A H, et al. An actuated force feedback‐enabled laparoscopic instrument for robotic‐assisted surgery. Int J Med Robot Comp, 2014, 10(1): 11-21.
25. Rafii H, Payne C J, Yang G Z. Current and emerging robot-assisted endovascular catheterization technologies: a review. Ann Biomed Eng, 2014, 42(4): 697-715.
26. 张舒怡, 曲新凯, 韩文正. 血管介入机器人辅助技术的研究进展. 中国心血管病研究, 2021, 19(8): 764-768.
27. 杨世平, 范辉, 朱广辉. 直齿圆柱齿轮啮合效率的计算与分析. 机械传动, 2017, 41(2): 148-151.
28. 范瑛, 谭云, 陶萍, 等. 铍青铜的性能研究综述. 材料导报, 2014, 28(S1): 100-103.
29. 方森鹏, 陈乐平, 周全, 等. 高性能铍青铜研究进展. 铸造技术, 2020, 41(4): 384-390.
30. 眭晨鑫, 付庄, 付泽宇, 等. 血管介入机器人无线力检测模块设计. 机械与电子, 2020, 38(6): 62-66.
31. 赖碁, 光雪峰, 尹小龙, 等. 血栓抽吸导管在不稳定型心绞痛介入治疗术中无复流时的应用. 昆明医科大学学报, 2016, 37(11): 51-54.

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