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Study of the Operational Safety of a Vascular Interventional Surgical Robotic System
This paper proposes an operation safety early warning system based on LabView (2014, National Instruments Corporation, Austin, TX, USA) for vascular interventional surgery (VIS) robotic system. The system not only provides intuitive visual feedback information for the surgeon, but also has a safety...
Autores principales: | , , |
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Formato: | Online Artículo Texto |
Lenguaje: | English |
Publicado: |
MDPI
2018
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Materias: | |
Acceso en línea: | https://www.ncbi.nlm.nih.gov/pmc/articles/PMC6187718/ https://www.ncbi.nlm.nih.gov/pubmed/30424053 http://dx.doi.org/10.3390/mi9030119 |
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author | Guo, Jian Jin, Xiaoliang Guo, Shuxiang |
author_facet | Guo, Jian Jin, Xiaoliang Guo, Shuxiang |
author_sort | Guo, Jian |
collection | PubMed |
description | This paper proposes an operation safety early warning system based on LabView (2014, National Instruments Corporation, Austin, TX, USA) for vascular interventional surgery (VIS) robotic system. The system not only provides intuitive visual feedback information for the surgeon, but also has a safety early warning function. It is well known that blood vessels differ in their ability to withstand stress in different age groups, therefore, the operation safety early warning system based on LabView has a vascular safety threshold function that changes in real-time, which can be oriented to different age groups of patients and a broader applicable scope. In addition, the tracing performance of the slave manipulator to the master manipulator is also an important index for operation safety. Therefore, we also transformed the slave manipulator and integrated the displacement error compensation algorithm in order to improve the tracking ability of the slave manipulator to the master manipulator and reduce master–slave tracking errors. We performed experiments “in vitro” to validate the proposed system. According to previous studies, 0.12 N is the maximum force when the blood vessel wall has been penetrated. Experimental results showed that the proposed operation safety early warning system based on LabView combined with operating force feedback can effectively avoid excessive collisions between the surgical catheter and vessel wall to avoid vascular puncture. The force feedback error of the proposed system is maintained between ±20 mN, which is within the allowable safety range and meets our design requirements. Therefore, the proposed system can ensure the safety of surgery. |
format | Online Article Text |
id | pubmed-6187718 |
institution | National Center for Biotechnology Information |
language | English |
publishDate | 2018 |
publisher | MDPI |
record_format | MEDLINE/PubMed |
spelling | pubmed-61877182018-11-01 Study of the Operational Safety of a Vascular Interventional Surgical Robotic System Guo, Jian Jin, Xiaoliang Guo, Shuxiang Micromachines (Basel) Article This paper proposes an operation safety early warning system based on LabView (2014, National Instruments Corporation, Austin, TX, USA) for vascular interventional surgery (VIS) robotic system. The system not only provides intuitive visual feedback information for the surgeon, but also has a safety early warning function. It is well known that blood vessels differ in their ability to withstand stress in different age groups, therefore, the operation safety early warning system based on LabView has a vascular safety threshold function that changes in real-time, which can be oriented to different age groups of patients and a broader applicable scope. In addition, the tracing performance of the slave manipulator to the master manipulator is also an important index for operation safety. Therefore, we also transformed the slave manipulator and integrated the displacement error compensation algorithm in order to improve the tracking ability of the slave manipulator to the master manipulator and reduce master–slave tracking errors. We performed experiments “in vitro” to validate the proposed system. According to previous studies, 0.12 N is the maximum force when the blood vessel wall has been penetrated. Experimental results showed that the proposed operation safety early warning system based on LabView combined with operating force feedback can effectively avoid excessive collisions between the surgical catheter and vessel wall to avoid vascular puncture. The force feedback error of the proposed system is maintained between ±20 mN, which is within the allowable safety range and meets our design requirements. Therefore, the proposed system can ensure the safety of surgery. MDPI 2018-03-08 /pmc/articles/PMC6187718/ /pubmed/30424053 http://dx.doi.org/10.3390/mi9030119 Text en © 2018 by the authors. Licensee MDPI, Basel, Switzerland. This article is an open access article distributed under the terms and conditions of the Creative Commons Attribution (CC BY) license (http://creativecommons.org/licenses/by/4.0/). |
spellingShingle | Article Guo, Jian Jin, Xiaoliang Guo, Shuxiang Study of the Operational Safety of a Vascular Interventional Surgical Robotic System |
title | Study of the Operational Safety of a Vascular Interventional Surgical Robotic System |
title_full | Study of the Operational Safety of a Vascular Interventional Surgical Robotic System |
title_fullStr | Study of the Operational Safety of a Vascular Interventional Surgical Robotic System |
title_full_unstemmed | Study of the Operational Safety of a Vascular Interventional Surgical Robotic System |
title_short | Study of the Operational Safety of a Vascular Interventional Surgical Robotic System |
title_sort | study of the operational safety of a vascular interventional surgical robotic system |
topic | Article |
url | https://www.ncbi.nlm.nih.gov/pmc/articles/PMC6187718/ https://www.ncbi.nlm.nih.gov/pubmed/30424053 http://dx.doi.org/10.3390/mi9030119 |
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