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Micromachines 2018, 9(9), 465; https://doi.org/10.3390/mi9090465

Magnetorheological Fluids Actuated Haptic-Based Teleoperated Catheter Operating System

1
College of Engineering, South China Agricultural University, 483, Wushan Road, Tianhe District, Guangzhou 510642, China
2
Faculty of Engineering, Kagawa University, 2217-20 Hayashi-cho, Takamatsu 760-8521, Japan
3
Graduate School of Engineering, Kagawa University, 2217-20 Hayashi-cho, Takamatsu 760-8521, Japan
*
Author to whom correspondence should be addressed.
Received: 9 July 2018 / Revised: 6 September 2018 / Accepted: 7 September 2018 / Published: 13 September 2018
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Abstract

During conventional catheter endovascular procedures, surgeons needs to adjust the catheter intervention moving direction and velocity according to the direct sensation. Moreover, in the conventional method, both the surgeon and the patient are inevitable exposed to a large amount of, and for a long period of time, X-ray radiation during the surgical procedure. The purpose of this paper is to ensure surgical safety and to protect the surgeon from X-ray radiation during the surgical procedure by adopting a novel haptic-based robot-assisted master-slave system mode. In this paper, a kind of magnetorheological fluids (MR fluids)-based haptic interface has been developed to generate a kind of controllable haptic sensation providing to the catheter operator, and the catheter intervention kinematics parameters measured the motion capture part to control the salve robotic catheter operating system following the master side kinematics. The slave catheter operating the mechanical system has also been designed and manufactured to manipulate the clinical catheter by mimicking the surgeon operating the catheter intervention surgical procedure, which has a 2-DOF (advance, retreat, and rotate) catheter motion characteristic; in addition, the interaction force between the catheter and inner wall of vasculature can be measured by its force sensing unit and the feedback to the master system. The catheter intervention synchronous evaluation experiments between the master and slave system are tested. Also, the advantages of integrating the controllable haptic sensation to the master-slave system experimental evaluations have been done in vitro. The experimental results demonstrated that the proposed haptic-based robot-assisted master-slave system mode can reduce the surgical time and protect the surgeon from X-ray radiation. View Full-Text
Keywords: magnetorheological fluids; haptic interface; catheter minimally invasive surgery magnetorheological fluids; haptic interface; catheter minimally invasive surgery
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This is an open access article distributed under the Creative Commons Attribution License which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited. (CC BY 4.0).
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Yin, X.; Guo, S.; Song, Y. Magnetorheological Fluids Actuated Haptic-Based Teleoperated Catheter Operating System. Micromachines 2018, 9, 465.

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