18 1

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

Title
Advantage of Steerable Catheter and Haptic Feedback for a 5-DOF Vascular Intervention Robot System
Author
이병주
Keywords
vascular intervention; surgical robot; haptic; catheter; steering; master-slave system
Issue Date
2019-10
Publisher
MDPI
Citation
APPLIED SCIENCES-BASEL, v. 9, No. 20, Article no. 4305
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.
URI
https://www.mdpi.com/2076-3417/9/20/4305http://repository.hanyang.ac.kr/handle/20.500.11754/121265
ISSN
2076-3417
DOI
10.3390/app9204305
Appears in Collections:
COLLEGE OF ENGINEERING SCIENCES[E](공학대학) > ELECTRICAL ENGINEERING(전자공학부) > Articles
Files in This Item:
2019.10_이병주_Advantage of Steerable Catheter and Haptic Feedback for a 5-DOF Vascular Intervention Robot System.pdfDownload
Export
RIS (EndNote)
XLS (Excel)
XML


qrcode

Items in DSpace are protected by copyright, with all rights reserved, unless otherwise indicated.

BROWSE