机构：[1]Key Laboratory of Convergence Biomedical Engineering System and Healthcare Technology, The Ministry of Industry and Information Technology, School of Automation, Beijing Institute of Technology, No.5, Zhongguancun South Street, Haidian District, Beijing 100081, China[2]Faculty of Engineering, Kagawa University, 2217-20 Hayashi-cho, Takamatsu, Kagawa 760-8521, Japan[3]Department of Interventional Neuroradiology, Beijing Neurosurgical Institute and Beijing Tiantan Hospital, Capital Medical University, Beijing 100050, China重点科室医技科室研究所放射科放射科北京市神经外科研究所首都医科大学附属天坛医院
Interventional surgery is widely used in the treatment of cardiovascular and cerebrovascular diseases, and the development of surgical robots can greatly reduce the fatigue and radiation risks brought to surgeons during surgery. In this paper, we present a novel interventional surgical robot which allows surgeons to fully use their operating skills during remote control. Fuzzy control theory is used to guarantee control precision during the master-slave operation. The safety force feedback control is designed based on the catheter and guidewire spring model, and the force-position control is designed to decrease the potential damage due to the control delay. This study first evaluates the force-position control strategy using a vascular model experiment, and then an in vivo experiment is used to evaluate the precision of the surgical robot controlling the catheter and guidewire to the designated position. The in vivo experiment results and surgeon's feedback demonstrate that the proposed surgical robot is able to perform complex remote surgery in clinical application.
基金：
National High-tech Research and Development Program (863 Program) of China [2015AA043202]; National Natural Science Foundation of ChinaNational Natural Science Foundation of China [61375094]
第一作者机构：[1]Key Laboratory of Convergence Biomedical Engineering System and Healthcare Technology, The Ministry of Industry and Information Technology, School of Automation, Beijing Institute of Technology, No.5, Zhongguancun South Street, Haidian District, Beijing 100081, China
通讯作者：
通讯机构：[1]Key Laboratory of Convergence Biomedical Engineering System and Healthcare Technology, The Ministry of Industry and Information Technology, School of Automation, Beijing Institute of Technology, No.5, Zhongguancun South Street, Haidian District, Beijing 100081, China[2]Faculty of Engineering, Kagawa University, 2217-20 Hayashi-cho, Takamatsu, Kagawa 760-8521, Japan
推荐引用方式(GB/T 7714)：
Yang Cheng,Guo Shuxiang,Bao Xianqiang,et al.A vascular interventional surgical robot based on surgeon's operating skills[J].MEDICAL & BIOLOGICAL ENGINEERING & COMPUTING.2019,57(9):1999-2010.doi:10.1007/s11517-019-02016-8.
