이병주
2019-12-12T04:43:49Z
2019-12-12T04:43:49Z
2019-10
APPLIED SCIENCES-BASEL, v. 9, No. 20, Article no. 4305
2076-3417
https://www.mdpi.com/2076-3417/9/20/4305
https://repository.hanyang.ac.kr/handle/20.500.11754/121265
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.
This work was supported by the Technology Innovation Program (or Industrial Strategic Technology Development Program-Artificial intelligence bio-robot medical convergence project) (20001257, Artificial intelligence algorithm based vascular intervention robot system for reducing radiation exposure and achieving 0.5 mm accuracy) funded by the Ministry of Trade, Industry & Energy (MOTIE, Korea), the Ministry of Health & Welfare (MOHW), Ministry of Science and ICT (MSIT), and the Korea Evaluation Institute of Industrial Technology (KEIT).
en_US
MDPI
vascular intervention
surgical robot
haptic
catheter
steering
master-slave system
Advantage of Steerable Catheter and Haptic Feedback for a 5-DOF Vascular Intervention Robot System
Article
20
9
10.3390/app9204305
4305-4305
APPLIED SCIENCES-BASEL
Woo, Jaehong
Song, Hwa-Seob
Cha, Hyo-Jeong
Yi, Byung-Ju
2019038379
E
COLLEGE OF ENGINEERING SCIENCES[E]
DIVISION OF ELECTRICAL ENGINEERING
bj