Autonomous robotic intracardiac catheter navigation using haptic vision
Autonomous robotic intracardiac catheter navigation using haptic vision
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DOI：
10.1126/scirobotics.aaw1977
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发表时间：
2019-04-24
期刊：
影响因子：
25
通讯作者：
Dupont, P. E.
中科院分区：
文献类型：
--
作者：
Fagogenis, G.;Mencattelli, M.;Dupont, P. E.
虽然所有的微创手术都需要从皮肤上的一个小切口导航到介入的部位，但以前还没有证明这是如何自主进行的。为了证明自主导航是可能的，我们在最难做到的地方进行了研究-在跳动的心脏内部。我们创造了一种机器人导管，它可以通过充满血液的心脏，使用受积极趋势性动物启发的壁面跟踪算法。该导管使用触觉视觉，这是一种使用基于触摸的表面识别和力感应的成像的混合感觉，以完成充满血液的心脏内的壁上跟随。通过活体动物实验，我们证明了自主控制的机器人导管的性能可与经验丰富的临床医生相媲美。自主导航是一种基本能力，在此基础上可以建立更复杂的自主性级别，例如执行程序。类似于战斗机中自动化的作用，这种功能可以让临床医生专注于程序中最关键的方面，同时提供精确和可重复的工具运动，而不依赖于操作员的经验和疲劳。
Although all minimally invasive procedures involve navigating from a small incision in the skin to the site of the intervention, it has not been previously demonstrated how this can be performed autonomously. To show that autonomous navigation is possible, we investigated it in the hardest place to do it-inside the beating heart. We created a robotic catheter that can navigate through the blood-filled heart using wall-following algorithms inspired by positively thigmotactic animals. The catheter uses haptic vision, a hybrid sense using imaging for both touch-based surface identification and force sensing, to accomplish wall following inside the blood-filled heart. Through in vivo animal experiments, we demonstrate that the performance of an autonomously controlled robotic catheter rivaled that of an experienced clinician. Autonomous navigation is a fundamental capability on which more sophisticated levels of autonomy can be built, e.g., to perform a procedure. Similar to the role of automation in a fighter aircraft, such capabilities can free the clinician to focus on the most critical aspects of the procedure while providing precise and repeatable tool motions independent of operator experience and fatigue.