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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...
Autores principales: | , , |
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Formato: | Online Artículo Texto |
Lenguaje: | English |
Publicado: |
MDPI
2022
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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 |
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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 |
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