Advantage of Steerable Catheter and Haptic Feedback for a 5-DOF Vascular Intervention Robot Systemopen access
- Authors
- Woo, Jaehong; Song, Hwa-Seob; Cha, Hyo-Jeong; Yi, Byung-Ju
- Issue Date
- Oct-2019
- Publisher
- MDPI
- Keywords
- vascular intervention; surgical robot; haptic; catheter; steering; master-slave system
- Citation
- Applied Sciences-basel, v.9, no.20, pp 1 - 14
- Pages
- 14
- Indexed
- SCIE
SCOPUS
- Journal Title
- Applied Sciences-basel
- Volume
- 9
- Number
- 20
- Start Page
- 1
- End Page
- 14
- URI
- https://scholarworks.bwise.kr/erica/handle/2021.sw.erica/2124
- DOI
- 10.3390/app9204305
- ISSN
- 2076-3417
2076-3417
- Abstract
- 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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Collections - COLLEGE OF ENGINEERING SCIENCES > SCHOOL OF ELECTRICAL ENGINEERING > 1. Journal Articles
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