A remote‐controlled vascular interventional robot: system structure and image guidance. Issue 2 (21st March 2013)

• Record Type: Journal Article
• Authors: Meng, Cai; Zhang, Jun; Liu, Da; Liu, Bo; Zhou, Fugen
• Is Part Of: International journal of medical robotics and computer assisted surgery. Volume 9:Issue 2(2013)
• Page Start: 230
• Page End: 239
• Publication Date: 2013-03-21
• Subjects: Robotics in medicine -- Periodicals; Surgery -- Technological innovations -- Periodicals; Imaging systems in medicine -- Periodicals; 617.90285
• DOI: 10.1002/rcs.1494
• Languages: English
• ISSNs: 1478-5951

Abstract

<abstract abstract-type="main"> <title>Abstract</title> <sec id="rcs1494-sec-0001" sec-type="section"> <title>Background</title> <p>Robot‐assisted vascular interventional surgery (VIS) enables the surgeon to teleoperate a catheter in a safe cabinet, such that exposure to X‐ray radiation is reduced. For safe and accurate teleoperation, system structure and image guidance is important.</p> </sec> <sec id="rcs1494-sec-0002" sec-type="section"> <title>Methods</title> <p>The system structure of the developed remote‐controlled vascular interventional robot (RVIR) and its image guidance system (IGS) are introduced. RVIR is based on a master–slave structure. Key technologies of IGS are addressed, including C‐arm calibration, distortion correction, catheter localization and 3D vasculature reconstruction.</p> </sec> <sec id="rcs1494-sec-0003" sec-type="section"> <title>Results</title> <p>Experiments show that the RMS error of distortion correction is 0.35 pixels, and 0.53 mm for distance reconstruction. The error in catheter localization between the IGS and the encoders is small. <italic>In vitro</italic> and <italic>in vivo</italic> tests verified the feasibility of RVIR.</p> </sec> <sec id="rcs1494-sec-0004" sec-type="section"> <title>Conclusions</title> <p>Experiments indicate that the RVIR is feasible and valid to help the surgeon perform VIS remotely; the function and reconstruction accuracy of IGS can satisfy the surgeon's requirement to guide the RVIR. Copyright © 2013 John Wiley & Sons, Ltd.</p> </sec> </abstract>