Work

Advantage of Steerable Catheter and Haptic Feedback for a 5-DOF Vascular Intervention Robot System

Year: 2019

Type: article

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.

Source: Applied Sciences

DOI: 10.3390/app9204305

Authors: Jaehong Woo, Hwa-Seob Song, Hyo-Jeong Cha, Byung-Ju Yi

Institutions: Hanyang University, Korea Institute of Machinery & Materials

Language: English

Topic: Soft Robotics and Applications

Subfield: Biomedical Engineering

Field: Engineering

Domain: Physical Sciences

SDG: Good health and well-being

Open Access status: gold

Estimated APC paid: $1,520