Cargando…

An Isomorphic Interactive Device for the Interventional Surgical Robot after In Vivo Study

Interventional surgical robots are widely used in neurosurgery to improve surgeons’ working environment and surgical safety. Based on the actual operational needs of surgeons’ feedback during preliminary in vivo experiments, this paper proposed an isomorphic interactive master controller for the mas...

Descripción completa

Detalles Bibliográficos
Autores principales: Yang, Cheng, Guo, Shuxiang, Bao, Xianqiang
Formato: Online Artículo Texto
Lenguaje:English
Publicado: MDPI 2022
Materias:
Acceso en línea:https://www.ncbi.nlm.nih.gov/pmc/articles/PMC8778927/
https://www.ncbi.nlm.nih.gov/pubmed/35056276
http://dx.doi.org/10.3390/mi13010111
_version_ 1784637449039773696
author Yang, Cheng
Guo, Shuxiang
Bao, Xianqiang
author_facet Yang, Cheng
Guo, Shuxiang
Bao, Xianqiang
author_sort Yang, Cheng
collection PubMed
description Interventional surgical robots are widely used in neurosurgery to improve surgeons’ working environment and surgical safety. Based on the actual operational needs of surgeons’ feedback during preliminary in vivo experiments, this paper proposed an isomorphic interactive master controller for the master–slave interventional surgical robot. The isomorphic design of the controller allows surgeons to utilize their surgical skills during remote interventional surgeries. The controller uses the catheter and guidewire as the operating handle, the same as during actual surgeries. The collaborative operational structure design and the working methods followed the clinical operational skills. The linear force feedback and torque feedback devices were designed to improve the safety of surgeries under remote operating conditions. An eccentric force compensation was conducted to achieve accurate force feedback. Several experiments were carried out, such as calibration experiments, master–slave control performance evaluation experiments, and operation comparison experiments on the novel and previously used controllers. The experimental results show that the proposed controller can perform complex operations in remote surgery applications and has the potential for further animal experiment evaluations.
format Online
Article
Text
id pubmed-8778927
institution National Center for Biotechnology Information
language English
publishDate 2022
publisher MDPI
record_format MEDLINE/PubMed
spelling pubmed-87789272022-01-22 An Isomorphic Interactive Device for the Interventional Surgical Robot after In Vivo Study Yang, Cheng Guo, Shuxiang Bao, Xianqiang Micromachines (Basel) Article Interventional surgical robots are widely used in neurosurgery to improve surgeons’ working environment and surgical safety. Based on the actual operational needs of surgeons’ feedback during preliminary in vivo experiments, this paper proposed an isomorphic interactive master controller for the master–slave interventional surgical robot. The isomorphic design of the controller allows surgeons to utilize their surgical skills during remote interventional surgeries. The controller uses the catheter and guidewire as the operating handle, the same as during actual surgeries. The collaborative operational structure design and the working methods followed the clinical operational skills. The linear force feedback and torque feedback devices were designed to improve the safety of surgeries under remote operating conditions. An eccentric force compensation was conducted to achieve accurate force feedback. Several experiments were carried out, such as calibration experiments, master–slave control performance evaluation experiments, and operation comparison experiments on the novel and previously used controllers. The experimental results show that the proposed controller can perform complex operations in remote surgery applications and has the potential for further animal experiment evaluations. MDPI 2022-01-11 /pmc/articles/PMC8778927/ /pubmed/35056276 http://dx.doi.org/10.3390/mi13010111 Text en © 2022 by the authors. https://creativecommons.org/licenses/by/4.0/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 (https://creativecommons.org/licenses/by/4.0/).
spellingShingle Article
Yang, Cheng
Guo, Shuxiang
Bao, Xianqiang
An Isomorphic Interactive Device for the Interventional Surgical Robot after In Vivo Study
title An Isomorphic Interactive Device for the Interventional Surgical Robot after In Vivo Study
title_full An Isomorphic Interactive Device for the Interventional Surgical Robot after In Vivo Study
title_fullStr An Isomorphic Interactive Device for the Interventional Surgical Robot after In Vivo Study
title_full_unstemmed An Isomorphic Interactive Device for the Interventional Surgical Robot after In Vivo Study
title_short An Isomorphic Interactive Device for the Interventional Surgical Robot after In Vivo Study
title_sort isomorphic interactive device for the interventional surgical robot after in vivo study
topic Article
url https://www.ncbi.nlm.nih.gov/pmc/articles/PMC8778927/
https://www.ncbi.nlm.nih.gov/pubmed/35056276
http://dx.doi.org/10.3390/mi13010111
work_keys_str_mv AT yangcheng anisomorphicinteractivedevicefortheinterventionalsurgicalrobotafterinvivostudy
AT guoshuxiang anisomorphicinteractivedevicefortheinterventionalsurgicalrobotafterinvivostudy
AT baoxianqiang anisomorphicinteractivedevicefortheinterventionalsurgicalrobotafterinvivostudy
AT yangcheng isomorphicinteractivedevicefortheinterventionalsurgicalrobotafterinvivostudy
AT guoshuxiang isomorphicinteractivedevicefortheinterventionalsurgicalrobotafterinvivostudy
AT baoxianqiang isomorphicinteractivedevicefortheinterventionalsurgicalrobotafterinvivostudy