A Safety Strategy for Vascular Interventional Surgery Robots based on Interactive Interface and Motion Scaling

Duohao Zhao1; Shuxiang Guo1,2; Yonggan Yan1; Zhijun Lin1; Bin Wang3; Mingchao Ding3

10.1109/ICMA61710.2024.10632975

2024-08-07

2152-7431

979-8-3503-8808-4

2024 IEEE International Conference on Mechatronics and Automation (ICMA)

4-7 Aug. 2024

Tianjin, China

Robot-assisted vascular interventional surgery (VIS) represents a significant advancement in medical technology, offering benefits such as reduced radiation exposure and improved surgical stability, thus positively impacting both doctors and patients. However, ensuring surgical safety through effective visual feedback and robust safety strategies remains crucial during VIS. Unfortunately, existing robot systems often fall short in providing intuitive intraoperative information feedback, burdening doctors with redundant data and potentially compromising surgical safety. To address these challenges, this paper introduces a novel host computer interface and an active surgical safety strategy. The proposed interface allows for real-time plotting of received data, delivering intuitive feedback on key intraoperative information. Additionally, the safety strategy dynamically adjusts the motion mapping coefficient between the leader and follower in risky conditions, minimizing collisions of interventional instruments with vessel walls. Following this proposal, an evaluation experiment was conducted to validate the functionality of the host computer interface and the efficacy of the surgical safety strategy. Experimental results demonstrate that the proposed host computer interface effectively plots intraoperative information in real time. Moreover, in risky scenarios, the safety strategy successfully reduces the displacement of the follower manipulator to 0.5 times and its average following error is 1.30mm, ensuring surgical safety.

其他

1.The Aerospace Center Hospital, School of Life Science and the Key Laboratory of Convergence Biomedical Engineering System and Healthcare Technology, Ministry of Industry and Information Technology, Beijing Institute of Technology, Beijing, China
2.The Department of Electronic and Electrical Engineering, Southern University of Science and Technology, Shenzhen, China
3.The Department of Peripheral Vascular Intervention, Aerospace Center Hospital, School of Life Science, Beijing Institute of Technology, Beijing, China

Duohao Zhao,Shuxiang Guo,Yonggan Yan,et al. A Safety Strategy for Vascular Interventional Surgery Robots based on Interactive Interface and Motion Scaling[C],2024.