TY - GEN
T1 - Development of a novel robotic catheter system for endovascular minimally invasive surgery
AU - Fu, Yili
AU - Gao, Anzhu
AU - Liu, Hao
AU - Li, Kai
AU - Liang, Zhaoguang
PY - 2011
Y1 - 2011
N2 - Utilizing catheters with unchangeable distal tip, traditional endovascular minimally invasive surgery is manually performed by surgeons present in an operating room filled with X-ray radiation. It has many disadvantages, such as poor maneuverability, radiation injury and undesirable interactivity, Thus it is difficult to guarantee the safety and efficiency. In order to improve these limitations, this paper develops a novel robotic catheter system with master-slave control, including the steerable catheter integrated with two magnetic tracking sensors, interventional mechanisms with force feedback and 3D guiding image with the collision test. The results demonstrate that the constructed system can reduce the usage of X-rays; surgeons can be located in the control room away from the operating room in the master-slave way; catheterization can be performed successfully and safely to the target point with high maneuverability.
AB - Utilizing catheters with unchangeable distal tip, traditional endovascular minimally invasive surgery is manually performed by surgeons present in an operating room filled with X-ray radiation. It has many disadvantages, such as poor maneuverability, radiation injury and undesirable interactivity, Thus it is difficult to guarantee the safety and efficiency. In order to improve these limitations, this paper develops a novel robotic catheter system with master-slave control, including the steerable catheter integrated with two magnetic tracking sensors, interventional mechanisms with force feedback and 3D guiding image with the collision test. The results demonstrate that the constructed system can reduce the usage of X-rays; surgeons can be located in the control room away from the operating room in the master-slave way; catheterization can be performed successfully and safely to the target point with high maneuverability.
KW - 3D guiding image
KW - Endovascular minimally invasive surgery
KW - interventional mechanism
KW - robotic catheter system
KW - steerable catheter
UR - https://www.scopus.com/pages/publications/79959963982
U2 - 10.1109/ICCME.2011.5876772
DO - 10.1109/ICCME.2011.5876772
M3 - 会议稿件
AN - SCOPUS:79959963982
SN - 9781424493241
T3 - 2011 IEEE/ICME International Conference on Complex Medical Engineering, CME 2011
SP - 400
EP - 405
BT - 2011 IEEE/ICME International Conference on Complex Medical Engineering, CME 2011
T2 - 2011 5th IEEE/ICME International Conference on Complex Medical Engineering, CME 2011
Y2 - 22 May 2011 through 25 May 2011
ER -