title: An assembly-type master-slave catheter and guidewire driving system for vascular intervention.
abstract: Current vascular intervention inevitably exposes a large amount of X-ray to both an operator and a patient during the procedure. The purpose of this study is to propose a new catheter driving system which assists the operator in aspects of less X-ray exposure and convenient user interface. For this, an assembly-type 4-degree-of-freedom master-slave system was designed and tested to verify the efficiency. First, current vascular intervention procedures are analyzed to develop a new robotic procedure that enables us to use conventional vascular intervention devices such as catheter and guidewire which are commercially available in the market. Some parts of the slave robot which contact the devices were designed to be easily assembled and dissembled from the main body of the slave robot for sterilization. A master robot is compactly designed to conduct insertion and rotational motion and is able to switch from the guidewire driving mode to the catheter driving mode or vice versa. A phantom resembling the human arteries was developed, and the master-slave robotic system is tested using the phantom. The contact force of the guidewire tip according to the shape of the arteries is measured and reflected to the user through the master robot during the phantom experiment. This system can drastically reduce radiation exposure by replacing human effort by a robotic system for high radiation exposure procedures. Also, benefits of the proposed robot system are low cost by employing currently available devices and easy human interface.
authors.affiliation: 1 Department of Electronic, Electrical, Control and Instrumentation Engineering, Hanyang University, Ansan, South Korea.
authors.forename: Hyo-Jeong
authors.initials: HJ
authors.lastname: Cha
authors.affiliation: 2 Department of Electronic Systems Engineering, Hanyang University, Ansan, South Korea.
authors.forename: Byung-Ju
authors.initials: BJ
authors.lastname: Yi
authors.affiliation: 3 Department of Radiology, Yonsei University College of Medicine, Seoul, South Korea.
authors.forename: Jong Yun
authors.initials: JY
authors.lastname: Won
mesh_terms: D001698:Biomedical Engineering; D002404:Catheterization / Q000295:instrumentation*; D004867:Equipment Design; D006801:Humans; D019047:Phantoms, Imaging; D015642:Radiology, Interventional / Q000295:instrumentation; D065287:Robotic Surgical Procedures / Q000295:instrumentation*; D014652:Vascular Diseases / Q000000981:diagnostic imaging / Q000601:surgery
keywords: Vascular intervention; catheter and guidewire driving system; endovascular surgery; haptics; master–slave robotic system