Journal
APPLIED SCIENCES-BASEL
Volume 9, Issue 20, Pages -Publisher
MDPI
DOI: 10.3390/app9204305
Keywords
vascular intervention; surgical robot; haptic; catheter; steering; master-slave system
Categories
Funding
- Technology Innovation Program - Ministry of Trade, Industry AMP
- Energy (MOTIE, Korea) [20001257]
- Ministry of Health Welfare (MOHW)
- Ministry of Science and ICT (MSIT)
- Korea Evaluation Institute of Industrial Technology (KEIT)
- Korea Evaluation Institute of Industrial Technology (KEIT) [20001257] Funding Source: Korea Institute of Science & Technology Information (KISTI), National Science & Technology Information Service (NTIS)
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Vascular intervention involves inserting a catheter and guidewire into blood vessels to diagnose and treat a disease in an X-ray environment. In this conventional vascular intervention procedure, the doctor is exposed to considerable radiation. To reduce the exposure, we developed a master-slave robot system. A steerable catheter is employed to shorten the task-time and reduce the contact force applied to the vessel walls during catheter insertion. The steerable catheter helps to select a vascular branch; thus, the radiation exposure time for patients is reduced, and perforation in the patient's vessel is prevented. Additionally, the robot system employs a haptic function to replicate the physician's tactile sensing in vascular intervention. In this study, the effectiveness of the steering catheter and haptic function was demonstrated experimentally in comparison with a conventional catheter.
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