Toward In-Vivo Force and Motion Measurement for Vascular Surgery

In-vivo measurement of force/torque and translation/rotation signals between the catheter and vessels during vascular surgery operations could provide a ground-truth data set for constructing and evaluating haptics-enabled surgical simulation systems. In this paper, we introduce a solution to measure both the translation/rotation of the catheter and the pushing/retracting resistance force and twisting resistance torque caused by multiregion contacts between the catheter and the vascular wall. The prototype has been validated with manipulation experiments of inserting a catheter into a vascular phantom model. The results illustrate that the device can detect collisions between the catheter and the vascular walls. Subtle force/torque changes caused by changes of movement direction can be detected. Force/torque changes at some critical point, such as the intersection point of vessels, can also be detected. The measurement of the catheter position can cover required ranges of translation or rotation.

[1]  Yuru Zhang,et al.  A portable in-vivo device of friction force and torque measurement for vascular surgery , 2012, 2012 IEEE International Conference on Virtual Environments Human-Computer Interfaces and Measurement Systems (VECIMS) Proceedings.

[2]  Xingguang Duan,et al.  Design of a Catheter Operating System with Active Supporting Arm for Vascular Interventional Surgery , 2011, 2011 Third International Conference on Intelligent Human-Machine Systems and Cybernetics.

[3]  Thenkurussi Kesavadas,et al.  Design and fabrication of a robotic mechanism for remote steering and positioning of interventional devices , 2010, The international journal of medical robotics + computer assisted surgery : MRCAS.

[4]  Gábor Székely,et al.  Data-Driven Haptic Rendering of Visco-Elastic Effects , 2008, 2008 Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems.

[5]  Maria Drangova,et al.  A device for real-time measurement of catheter-motion and input to a catheter navigation system , 2007, SPIE Medical Imaging.

[6]  Yuru Zhang,et al.  A novel design of a wearable device for measuring force and torque in vascular surgery , 2013, 2013 IEEE International Conference on Robotics and Automation.

[7]  Allison M. Okamura,et al.  Modeling the Forces of Cutting With Scissors , 2008, IEEE Transactions on Biomedical Engineering.

[8]  Kyle B. Reed,et al.  Mechanics of Flexible Needles Robotically Steered through Soft Tissue , 2010, Int. J. Robotics Res..

[9]  Robert D. Howe,et al.  Discriminating tissue stiffness with a haptic catheter: Feeling the inside of the beating heart , 2011, 2011 IEEE World Haptics Conference.

[10]  Hui-Nam Pak,et al.  Development of a force-reflecting robotic platform for cardiac catheter navigation. , 2010, Artificial organs.

[11]  Chee-Kong Chui,et al.  Real-time interactive surgical simulator for catheter navigation , 1998, Photonics West - Biomedical Optics.

[12]  Allison M. Okamura,et al.  Modeling of Tool-Tissue Interactions for Computer-Based Surgical Simulation: A Literature Review , 2008, PRESENCE: Teleoperators and Virtual Environments.

[13]  Ming C. Lin,et al.  Haptic Rendering : Foundations, Algorithms, and Applications , 2008 .

[14]  L. Jones.  Kinesthetic Sensing , 2000 .

[15]  Liu Da,et al.  Overview of the vascular interventional robot , 2008, The international journal of medical robotics + computer assisted surgery : MRCAS.

[16]  Kaspar Althoefer,et al.  Measuring tip and side forces of a novel catheter prototype: A feasibility study , 2009, 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems.

[17]  Dominiek Reynaerts,et al.  TACTILE SENSING TECHNOLOGY FOR ROBOT ASSISTED MINIMALLY INVASIVE SURGERY , 2007 .

[18]  P. Polygerinos,et al.  Triaxial Catheter-Tip Force Sensor for MRI-Guided Cardiac Procedures , 2013, IEEE/ASME Transactions on Mechatronics.

[19]  Jérémie Dequidt,et al.  Interactive Simulation of Embolization Coils: Modeling and Experimental Validation , 2008, MICCAI.

[20]  Shuxiang Guo,et al.  Realization of a Catheter Driving Mechanism with Micro tactile sensor for Intravascular Neurosurgery , 2006, 2006 IEEE International Conference on Robotics and Biomimetics.

[21]  L.D. Seneviratne,et al.  State-of-the-Art in Force and Tactile Sensing for Minimally Invasive Surgery , 2008, IEEE Sensors Journal.

[22]  R. Dalman,et al.  The utility of endovascular simulation to improve technical performance and stimulate continued interest of preclinical medical students in vascular surgery. , 2009, Journal of surgical education.

[23]  Fumihito Arai,et al.  New catheter driving method using linear stepping mechanism for intravascular neurosurgery , 2002, Proceedings 2002 IEEE International Conference on Robotics and Automation (Cat. No.02CH37292).

[24]  Stefano Stramigioli,et al.  Design of a user interface for intuitive colonoscope control , 2011, 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems.