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Open AccessArticle

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

1
Department of Intelligent Robot Engineering, Hanyang University, 222 Wangsimni-ro, Seongdong-gu, Seoul 04763, Korea
2
Department of Electrical and Electronic Engineering, Hanyang University, 55 Hanyangdaehak-ro, Sangnok-gu, Ansan 15588, Korea
3
Department of Medical Device Daegu Research Center for Medical Devices and Green Energy, Korea Institute of Machinery & Materials, 330 Techno sunhwan-ro, Yuga-eup, Dalseong-gun, Daegu 42994, Korea
*
Authors to whom correspondence should be addressed.
Appl. Sci. 2019, 9(20), 4305; https://doi.org/10.3390/app9204305
Received: 29 July 2019 / Revised: 4 October 2019 / Accepted: 6 October 2019 / Published: 14 October 2019
(This article belongs to the Special Issue Next-Generation Surgical Robotics)
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.
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Keywords: vascular intervention; surgical robot; haptic; catheter; steering; master–slave system vascular intervention; surgical robot; haptic; catheter; steering; master–slave system
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MDPI and ACS Style

Woo, J.; Song, H.-S.; Cha, H.-J.; Yi, B.-J. Advantage of Steerable Catheter and Haptic Feedback for a 5-DOF Vascular Intervention Robot System. Appl. Sci. 2019, 9, 4305.

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