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A Remote-Controlled Robotic System with Safety Protection Strategy Based on Force-Sensing and Bending Feedback for Transcatheter Arterial Chemoembolization

Transcatheter arterial chemoembolization (TACE) is the common choice of non-open surgery for hepatocellular carcinoma (HCC) now. In this study, a simple TACE robotic system of 4-degree-of-freedom is proposed to get higher accuracy and stability of the surgery operation and reduce X-ray exposure time...

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Detalles Bibliográficos
Autores principales: Zhou, Junqiang, Mei, Ziyang, Miao, Jia, Mao, Jingsong, Wang, Lingyun, Wu, Dezhi, Sun, Daoheng, Zhao, Yang
Formato: Online Artículo Texto
Lenguaje:English
Publicado: MDPI 2020
Materias:
Acceso en línea:https://www.ncbi.nlm.nih.gov/pmc/articles/PMC7569875/
https://www.ncbi.nlm.nih.gov/pubmed/32854264
http://dx.doi.org/10.3390/mi11090805
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author Zhou, Junqiang
Mei, Ziyang
Miao, Jia
Mao, Jingsong
Wang, Lingyun
Wu, Dezhi
Sun, Daoheng
Zhao, Yang
author_facet Zhou, Junqiang
Mei, Ziyang
Miao, Jia
Mao, Jingsong
Wang, Lingyun
Wu, Dezhi
Sun, Daoheng
Zhao, Yang
author_sort Zhou, Junqiang
collection PubMed
description Transcatheter arterial chemoembolization (TACE) is the common choice of non-open surgery for hepatocellular carcinoma (HCC) now. In this study, a simple TACE robotic system of 4-degree-of-freedom is proposed to get higher accuracy and stability of the surgery operation and reduce X-ray exposure time of the surgeons. The master–slave control strategy is adopted in the robotic system and a customized sigmoid function is designed to optimize the joystick control of the master–slave robotic control system. A force-sensing module is developed to sense the resistance of the guide wire in linear delivery motion and an auxiliary bending feedback method based on constraint pipe with a film sensor is proposed. With two force-sensing methods, the safety strategy of robotic motion with 9 different motion constraint coefficients is given and a human–computer interface is developed. The TACE robot would monitor the value of the force sensor and the analog voltage of the film sensor to adopt the corresponding motion constraint coefficient in every 10 ms. Vascular model experiments were performed to validate the robotic system, and the results showed that the safety strategy could improve the reliability of the operation with immediate speed constraint and avoid potential aggressive delivery.
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spelling pubmed-75698752020-10-27 A Remote-Controlled Robotic System with Safety Protection Strategy Based on Force-Sensing and Bending Feedback for Transcatheter Arterial Chemoembolization Zhou, Junqiang Mei, Ziyang Miao, Jia Mao, Jingsong Wang, Lingyun Wu, Dezhi Sun, Daoheng Zhao, Yang Micromachines (Basel) Article Transcatheter arterial chemoembolization (TACE) is the common choice of non-open surgery for hepatocellular carcinoma (HCC) now. In this study, a simple TACE robotic system of 4-degree-of-freedom is proposed to get higher accuracy and stability of the surgery operation and reduce X-ray exposure time of the surgeons. The master–slave control strategy is adopted in the robotic system and a customized sigmoid function is designed to optimize the joystick control of the master–slave robotic control system. A force-sensing module is developed to sense the resistance of the guide wire in linear delivery motion and an auxiliary bending feedback method based on constraint pipe with a film sensor is proposed. With two force-sensing methods, the safety strategy of robotic motion with 9 different motion constraint coefficients is given and a human–computer interface is developed. The TACE robot would monitor the value of the force sensor and the analog voltage of the film sensor to adopt the corresponding motion constraint coefficient in every 10 ms. Vascular model experiments were performed to validate the robotic system, and the results showed that the safety strategy could improve the reliability of the operation with immediate speed constraint and avoid potential aggressive delivery. MDPI 2020-08-25 /pmc/articles/PMC7569875/ /pubmed/32854264 http://dx.doi.org/10.3390/mi11090805 Text en © 2020 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
Zhou, Junqiang
Mei, Ziyang
Miao, Jia
Mao, Jingsong
Wang, Lingyun
Wu, Dezhi
Sun, Daoheng
Zhao, Yang
A Remote-Controlled Robotic System with Safety Protection Strategy Based on Force-Sensing and Bending Feedback for Transcatheter Arterial Chemoembolization
title A Remote-Controlled Robotic System with Safety Protection Strategy Based on Force-Sensing and Bending Feedback for Transcatheter Arterial Chemoembolization
title_full A Remote-Controlled Robotic System with Safety Protection Strategy Based on Force-Sensing and Bending Feedback for Transcatheter Arterial Chemoembolization
title_fullStr A Remote-Controlled Robotic System with Safety Protection Strategy Based on Force-Sensing and Bending Feedback for Transcatheter Arterial Chemoembolization
title_full_unstemmed A Remote-Controlled Robotic System with Safety Protection Strategy Based on Force-Sensing and Bending Feedback for Transcatheter Arterial Chemoembolization
title_short A Remote-Controlled Robotic System with Safety Protection Strategy Based on Force-Sensing and Bending Feedback for Transcatheter Arterial Chemoembolization
title_sort remote-controlled robotic system with safety protection strategy based on force-sensing and bending feedback for transcatheter arterial chemoembolization
topic Article
url https://www.ncbi.nlm.nih.gov/pmc/articles/PMC7569875/
https://www.ncbi.nlm.nih.gov/pubmed/32854264
http://dx.doi.org/10.3390/mi11090805
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