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The interventional surgery is a type of minimally invasive operation which can reduce hospitalization time and greatly decrease patient morbidity compared to traditional methods. In previous work, the interventional operation robot was developed to send catheter or guidewire. The master side was a Phantom device and the PID control was used through upper machine. To further improve the precision and...
The interventional therapy is a kind of minimally invasive treatment. Under the guidance of medical imaging equipment, surgeons take the special catheter, guide wire and other precision instruments import in the body to do the pathological diagnosis and local treatment. The characters of interventional therapy are no operation, small trauma, rapid recovery, etc. However, the interventional treatment...
The interventional surgery is a type of minimally invasive operation which can reduce hospitalization time and greatly decrease patient morbidity compared to traditional methods. In our previous study, a master-slave interventional operation system has been developed. The master side was a Phantom device and the PID control was used through upper machine. To further improve the precision and synchronization...
During cardiovascular and cerebrovascular interventional surgical procedure, the accuracy of guide wire advance is particularly important for the success rate and safety of surgery, a single PID controller can't adapt to the complex surgical situations, the performance of the system has much room for improvement. In this paper, a fuzzy PID control algorithm with guide wire feedback force was proposed...
The interventional therapy combining with modern high technologies, is a kind of minimally invasive treatment. In order to achieve pathological diagnosis and local treatment, catheter and guide wire are delivered to patients' lesions through their blood vessel with the guidance of DSA image. Interventional therapy has advantages of small trauma, rapid recovery. And it has become the developing trend...
The haptics-based master-slave system for Minimally Invasive Surgery is a promising way to protect surgeons from long time radiation and to train novice doctors to learn basic wire or catheter handling skills. However, the time delay of transmission of visual video and the time difference between image information and force signals restrict the application of this technology in some extent. In this...
This paper presents a novel robotic catheter system for MIS (minimally invasive surgery), we developed a PID controller to the robotic catheter system for improving the stability and consistency, and also, we do the experiment to evaluate the feasibility of developed PID controller, the developed robotic catheter system can be used for training unskilled surgeons to do the operation of intravascular...
In this paper, a new master-slave robotic catheter system for minimally invasive surgery (MIS) has been proposed, it can be used for training unskilled surgeons to do the operation of intravascular neurosurgery. Comparing with the previous catheter operating systems, the new master-slave robotic catheter operating system has good maneuverability. The new master-slave robotic catheter operating system...
We have developed a force display method for a catheter operating system in this paper. We designed micro force sensors and used them in the system to ensure the operation security in intravascular neurosurgery applications. We also used camera to monitor the situation of simulation experiment, and used developed force display system to monitor the changed force that catheter contacted with blood...
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