Publication

Hanyang University HumanRobotics Lab

International Journal
Advantage of Steerable Catheter and Haptic Feedback for a 5-DOF Vascular Intervention Robot System
Journal
Applied Sciences
Vol
Vol. 9, No. 20
Page
pp. 4305-4319
Author
J. Woo, H.-S. Song, H.-J. Cha, and B.-J. Yi
Year
2019
Date
2019.10.14
File
applsci-09-04305.pdf (10.1M) 3회 다운로드 DATE : 2020-10-18 17:26:54
Abstract: Vascular intervention involves inserting a catheter and guidewire into blood vessels to diagnose and treat a disease in an X-ray environment. In this conventional vascular intervention procedure, the doctor is exposed to considerable radiation. To reduce the exposure, we developed a master–slave robot system. A steerable catheter is employed to shorten the task-time and reduce the contact force applied to the vessel walls during catheter insertion. The steerable catheter helps to select a vascular branch; thus, the radiation exposure time for patients is reduced, and perforation in the patient’s vessel is prevented. Additionally, the robot system employs a haptic function to replicate the physician’s tactile sensing in vascular intervention. In this study, the effectiveness of the steering catheter and haptic function was demonstrated experimentally in comparison with a conventional catheter.