Parametric Modeling and Experimental Analysis for Interventional Surgery Robots

See󰀃discussions,󰀃stats,󰀃and󰀃author󰀃profiles󰀃for󰀃this󰀃publication󰀃at:https://www.researchgate.net/publication/285800943

Parametric󰀉Modeling󰀉and

Experimental󰀉Analysis󰀉for

Interventional󰀉Surgery󰀉Robots

CHAPTER󰀃·󰀃JANUARY󰀃2016

DOI:󰀃10.1007/978-3-319-23327-7_71

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7󰀉AUTHORS,󰀃INCLUDING:

Bin󰀃He

Tongji󰀃University

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Available󰀃from:󰀃Bin󰀃HeRetrieved󰀃on:󰀃07󰀃March󰀃2016ParametricModelingandExperimental

AnalysisforInterventionalSurgery

Robots

BinHe,KeLiu,ShangqingWu,YuanyuanSi,TingtingYuan,

LuxiHeandYanminZhou

AbstractMinimallyinvasivesurgeryisamaintreatmentinvasculardiseases,with

theadvantagesofpainlessandcomplicationreducingforpatients.Inavascular

operation,theguidewireisdriventothelesionwithcatheter.However,thesuccess

ofsurgerieslargelydependonsurgeon’sexperience.Therefore,itisnecessaryto

studytheinteractionbetweentheguidewireandthecathetertosecuretheprecise

andeffectivelocatingoftherobot.Itisrequiredtostudytheintravascular

mechanicsandthedynamicbehaviorsoftheguidewireandcatheter.Thereare

variousdifficultieswhencatheterisusedinbloodvessels,suchasthematerialflexibility,vesselelasticityanditsbifurcation.Experimentsweredesignedto

overcomethesedifficultiesinthispaper.Arelationshipoftherotationangles

betweentheproximalanddistalendoftheguidewirehasbeenfoundthroughthe

curvefitting,whichwouldprovideexperimentalevidenceforsurgeons.

KeywordsMinimallyinvasivesurgeryÁCatheterÁKinematicsmodeling

1Introduction

MinimallyInvasiveSurgery(MIS)appliesminimallyinvasivetreatmentsonvas-

cularlesions,throughtheinteractionofmedicalcatheterandtheguidewireandtheir

navigationandpositioning.Ithasbeenbelievedtobetheorientationofthenext

generationofthevascularsurgery,whichpossessesbroadprospective.Thecurrent

researchhasbeenfocusedontheintelligenceandautomationofthecatheternavi-

gationandtheintelligentmaterials(theshape-memoryalloyandtheelectroactive

B.He(&)ÁK.LiuÁS.WuÁY.SiÁT.YuanÁL.HeÁY.ZhouControlScienceandEngineeringDepartment,TongjiUniversity,Shanghai,Chinae-mail:hebin@tongji.edu.cn

Y.ZhouDepartmentofZoology,CambridgeUniversity,Cambridge,UK

©SpringerInternationalPublishingSwitzerland2016X.Dingetal.(eds.),AdvancesinReconfigurableMechanismsandRobotsII,MechanismsandMachineScience36,DOI10.1007/978-3-319-23327-7_71829polymersofartificialmuscles)fortheaccurateoperationoftheintelligentvascular

surgeryrobots.

Duringtheoperation,acatheterisinsertedintoabloodvesselwiththehelpofa

guidewire,asshowninFig.1.

Thecurrentoperationsarecarriedoutmanuallybydoctorsaidedbyimaging,

whichhavethedisadvantagesthat:

1.SinceXrayisusedfortheimagingduringthec,thesurgeonsaretherefore

exposedtoradiationhazard,whichmayleadtoillnessinlongterm;

2.Withoutanyfeedbackofthethree-dimensionalpositionofthecatheterandthe

force,tentativeoperationsarecarriedoutdependingontheoperators’experi-

encesandknowledgeofanatomy,resultinginlongoperationtime,accumulated

radiationhazardsandprobablymoremisoperations;

3.Duetothelowaccuracyofmanuallyintubation,itisoftendifficultoreven

impossibletolocatethecatheterpreciselyatthefocus,leadingtoincreased

operatingtimeaswellasthemedicalrisk.

Inordertoensuretheoperationsafety,reducemedicalriskandimprovethe

surgeryaccuracyandefficiency,variouscatheterguidingrobotictechnologieshave

beendevelopingquickly,includingmagneticdriven,wiredriven,smartmaterial

drivenandfluiddrivencatheterguidancetechnologies.Inordertomeetthe

requirementsoftheintelligencedrivenoftheguidewireandthecatheter,studieson

theirinteractionmechanismsareinurgentneedtoachievethenonlinearmathe-

maticalmodeloftheirinputsandoutputsunderthecomplexenvironmentsofthe

bloodvascular.

Thefirstmagneticcatheterwaspublishedin1951[1];Seldingerbuiltthe

technologyofvascularintubationthroughpercutaneouspuncture,starting

theFig.1Vascularinterventionalprocedure830B.Heetal.technologyusingsteelwiresasguide[2];in1969,thefirstwiredrivencatheterwas

createdandappliedinnon-invasivesurgeries[1];inthe1980s,theshapememory

alloydrivencathetersappeared[1];intheearly1980s,themagneticdrivenangi-

ographystartedtobeappliedtohumanbeingsandfluiddrivencatheterstartedtobe

available[1];GUOandFukudainJapandevelopedtheICFPdrivencatheter

guidancerobots[3];afterthenewmillennium,theNiobesystemofStereotaxisis

currentlythemostmaturesurgerysystemusingthemagneticcatheterduring

guiding[4];in2007,theSensei®-XroboticcathetersystemdevelopedbyHansen

MedicalusingArtisanTMcatheter,hadbeenusedinclinicalsurgeryofcatheters

imaging,astheworld’sleadingcompliantcatheterroboticplatform[5].TheAmigo

remotecathetersystemdevelopedbyCatheterRobotics,iscompatiblewiththeir

existingcommercialcathetersandintegrateswiththeEnSiteelectrophysiological

measurementsystemoftheSt.JudeMedical’s[6].Suchrobotsassistedintubation