Design and fabrication of a robotic mechanism for remote steering and positioning of interventional devices

Govindarajan Srimathveeravalli, Thenkurussi Kesavadas, Xinyan Li

Research output: Contribution to journalArticle

Abstract

Background: Recently, robotic systems have been introduced as a method for assisting endovascular interventional procedures. A few commercial and research solutions are available. In a survey it was found that none of the current systems satisfied all basic design requirements set forth for a good robot-assisted therapy platform. Methods: A human motion analysis study was performed to identify design specifications for safe motion and force limits for endovascular surgery. Based on design requirements from surveyed systems and motion analysis, a new, teleoperated, haptically enabled system called System for Endovascular Teleoperated Access (SETA) was constructed. SETA is capable of simultaneously manipulating any guidewire and catheter in the range of 0.014-0.13 inches. Results: SETA's slave was evaluated for precision positioning, using in vitro vascular phantoms. It was also evaluated by a cohort of neurovascular surgeons and fellows (n = 8), using the VIST vascular simulator. A qualitative survey of the participants and a quantitative analysis ofmetrics procedure time and contrast used found that SETA was equivalent to manual intervention on this platform. Conclusions: SETA provided good performance in the in vitro studies, and will soon be evaluated in a series of in vivo animal model studies.

Original languageEnglish (US)
Pages (from-to)160-170
Number of pages11
JournalInternational Journal of Medical Robotics and Computer Assisted Surgery
Volume6
Issue number2
DOIs
StatePublished - Jun 1 2010
Externally publishedYes

Keywords

  • Endovascular surgery
  • Guidewire manipulation
  • Haptics
  • Telerobotics

ASJC Scopus subject areas

  • Surgery
  • Biophysics
  • Computer Science Applications

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