Publication

Hanyang University HumanRobotics Lab

International Journal
In Vivo Usability Test of Vascular Intervention Robotic System Controlled by Two Types of Master Devices
Journal
Applied Sciences
Vol
Vol. 11, No. 12
Page
p. 5453
Author
H.-S. Song, J. Woo, J.Y. Won, and B.-J. Yi
Year
2021
Date
2021.06.11
File
In Vivo Usability Test of Vascular Intervention Robotic System Controlled by Two Types of Master Devices.pdf (638.2K) 17회 다운로드 DATE : 2021-06-17 12:03:36
Abstract: Conventional vascular intervention (VI) procedures are typically performed manually under exposure to X-rays, whereby several problems are presented that need to be addressed owing to the patients and doctors being exposed to large amounts of radiation. In such cases, employing radiation protection units is not a long-term solution to avoid physical damage. Therefore, to overcome these issues, we propose a robotic VI system in this study. Moreover, we compare the extent of radiation exposure in the case of the conventional manual VI procedure with that in the case of the robotic procedure. The radiation exposure is then analyzed from the perspective of the doctor. Subsequently, the results of usability tests for two proposed master devices are presented in terms of the NASA task load index (NASA-TLX) and the system usability scale (SUS) score. To verify the effectiveness of the robotic VI system, animal experiments are conducted using a pig model. Among the two types of master devices tested with the proposed robotic VI system, the ergonomically designed 2-degree-of-freedom master device is found to be more effective than the joystick-type device in terms of the usability test scores. Hence, the proposed robotic VI procedure is shown to be advantageous in terms of reducing radiation exposure and improving usability.