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Natural guidewire manipulations of surgeons in percutaneous coronary intervention (PCI), rotating and translating a guidewire with finger and hand motion, are important and useful references to build a knowledge base (KB) for robotic autonomous intervention. In this paper, guidewire manipulation models are proposed using an improved data glove, in which a 6-DOF position/orientation sensor is installed...
The percutaneous coronary interventions (PCI) require complex operating skills of the interventional devices and make the surgeons being exposed to heavy X-ray radiation. Accurate delivery of the interventional devices and avoiding the radiation are especially important for the surgeons. This paper presents a novel dedicated dual-finger robotic hand (DRH) and a console to assist the surgeons to deliver...
Recently, the development of minimally invasive surgery has led to the emergence of the new research area: minimally invasive vascular surgery simulation. The goal of the surgery simulation is to provide a new way to enable the trainees to obtain the core skills of the techniques. One of the key component of the simulation for core skills training in minimally invasive vascular surgery is how to develop...
In recent years, rapid development of minimally invasive surgery has taken place. Virtual reality simulator enables the trainees to obtain the core catheter/guide wire handling skills and to decrease the error rate of operation prior to performing them on a real patient. In this paper, we present and evaluate a collision response algorithm and a force feedback computing method for simulating a catheter/guide...
Cardiovascular disease is a class of diseases that involve the heart and blood vessels, which is the leading cause of deaths globally. Vascular interventional surgery is an effective treatment. As belongs to minimally invasive surgery (MIS), it is more popular due to the advantages of smaller injury, faster recovery and higher accuracy rate. However, it needs up to 10 years to train a skilled surgeon...
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