TY - JOUR
T1 - Design and fabrication of a robotic mechanism for remote steering and positioning of interventional devices
AU - Srimathveeravalli, Govindarajan
AU - Kesavadas, Thenkurussi
AU - Li, Xinyan
N1 - Copyright:
Copyright 2010 Elsevier B.V., All rights reserved.
PY - 2010/6
Y1 - 2010/6
N2 - 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.
AB - 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.
KW - Endovascular surgery
KW - Guidewire manipulation
KW - Haptics
KW - Telerobotics
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U2 - 10.1002/rcs.301
DO - 10.1002/rcs.301
M3 - Article
C2 - 20135635
AN - SCOPUS:77952783931
SN - 1478-5951
VL - 6
SP - 160
EP - 170
JO - International Journal of Medical Robotics and Computer Assisted Surgery
JF - International Journal of Medical Robotics and Computer Assisted Surgery
IS - 2
ER -