Design and experimental evaluation of a teleoperated haptic robot-assisted catheter operating system
Design and experimental evaluation of a teleoperated haptic robot-assisted catheter operating system
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DOI：
10.1177/1045389x14556167
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发表时间：
2016-01-01
影响因子：
2.7
通讯作者：
Ishihara, Hidenori
中科院分区：
文献类型：
--
作者：
Yin, Xuanchun;Guo, Shuxiang;Ishihara, Hidenori
微创手术和治疗广泛用于诊断和手术。远程手术是一种很有前途的外科手术，可以保护外科医生免受X射线辐射，并解决偏远农村地区缺乏经验丰富的外科医生的问题。但是，由于外科医生与患者远程分离，因此应考虑手术成功率。提高手术成功率最有效的解决方法是设计一个触觉接口作为主控台，它可以为外科医生提供“沉浸式”的手术。在这项研究中，触觉导管操作系统的遥操作，通过利用磁流变液提出解决安全问题。通过调节磁场来改变磁流变流体的粘度来提供触觉感觉，磁场取决于从操纵器中测量的力。为此，设计并制作了触觉接口的三个部分：磁场、磁流变液容器和触觉性能校准机构。初步的实验验证了这种触觉接口的有效性。实验结果表明，所设计的触觉导管操作系统可用于遥操作和培训的外科医生的非经验。
Minimally invasive surgery and therapy is popularly used both for diagnosis and for surgery. Teleoperation, a promising surgery, is used to protect the surgeon from X-ray radiation as well as to address the problem of lacking experienced surgeons in remote rural areas. However, surgery success ratio should be considered because the surgeon was separated from the patient remotely. A most effective addressing method to improve success ratio is design of a haptic interface as a master console, which can provide the "immersive'' operation to the surgeon. In this study, a haptic catheter operation system for teleoperation through exploiting magnetorheological fluids is proposed to solve the safety problem. The haptic sensation is provided by varying the viscosity of the magnetorheological fluids by adjusting the magnetic field, which is dependent on the force measured in the slave manipulator. Therefore, three parts of the haptic interface were designed and fabricated: magnetic field, magnetorheological fluids container and haptic performance calibration mechanism. Some preliminary experiments have been done to verify the effectiveness of this kind of haptic interface. Experimental results illustrated that the designed haptic catheter operation system can be used for teleoperation and for training the surgeon for the non-experience.