机构：[1]Key Laboratory of Convergence Medical Engineering System and Healthcare Technology, Ministry of Industry and Information Technology, Beijing Institute of Technology, Beijing 100081, China[2]Intelligent Mechanical Systems Engineering Department, Kagawa University, Takamatsu 761-0396, Japan[3]Department of Interventional Neuroradiology, Beijing Engineering Technology Research Center for Interventional Neuroradiology, and Beijing Neurosurgical Institute, Beijing Tiantan Hospital, Capital Medical University, Beijing 10050, 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
Minimally invasive vascular interventional surgery is widely used and remote-controlled vascular interventional surgery robots (RVIRs) are being developed to reduce the occupational risk of the intervening physician in minimally invasive vascular interventional surgeries. Skilled surgeon performs surgeries mainly depending on the detection of collisions. Inaccurate force feedback will be difficult for surgeons to perform surgeries or even results in medical accidents. In addition, the surgeon cannot quickly and easily distinguish whether the proximal force exceeds the safety threshold of blood vessels or not, and thus it results in damage to the blood vessels. In this paper, we present a novel method comprising compensatory force measurement and multimodal force feedback (MFF). Calibration experiments and performance evaluation experiments were carried out. Experimental results demonstrated that the proposed method can measure the proximal force of catheter/guidewire accurately and assist surgeons to distinguish the change of proximal force more easily. This novel method is suitable for use in actual surgical operations.
基金：
National High-tech Research and Development Program (863 Program) of China [2015AA043202]; National Key Research and Development Program of China [2017YFB1304401]
第一作者机构：[1]Key Laboratory of Convergence Medical Engineering System and Healthcare Technology, Ministry of Industry and Information Technology, Beijing Institute of Technology, Beijing 100081, China
通讯作者：
通讯机构：[1]Key Laboratory of Convergence Medical Engineering System and Healthcare Technology, Ministry of Industry and Information Technology, Beijing Institute of Technology, Beijing 100081, China[2]Intelligent Mechanical Systems Engineering Department, Kagawa University, Takamatsu 761-0396, Japan
推荐引用方式(GB/T 7714)：
Bao Xianqiang,Guo Shuxiang,Xiao Nan,et al.Compensatory force measurement and multimodal force feedback for remote-controlled vascular interventional robot[J].BIOMEDICAL MICRODEVICES.2018,20(3):-.doi:10.1007/s10544-018-0318-0.
APA：
Bao, Xianqiang,Guo, Shuxiang,Xiao, Nan,Li, Youxiang&Shi, Liwei.(2018).Compensatory force measurement and multimodal force feedback for remote-controlled vascular interventional robot.BIOMEDICAL MICRODEVICES,20,(3)
MLA：
Bao, Xianqiang,et al."Compensatory force measurement and multimodal force feedback for remote-controlled vascular interventional robot".BIOMEDICAL MICRODEVICES 20..3(2018):-
