Abstract
Purpose
The development of cardiovascular interventional surgery robots can realize master–slave interventional operations, which will effectively solve the problem of surgeons being injured by X-ray radiation. The delivery accuracy and safety of interventional instruments such as guidewire are the most important issues in the development of robotic systems. Most of the current control methods are position control or force feedback control, which cannot take into account delivery accuracy and safety.
Methods
A cardiovascular interventional surgery robotic system integrated force sensors is developed. A novel force/position controller, which includes a radial basis function neural networks-based inner loop position controller and a force-based admittance outer loop controller, is proposed. Furthermore, a series of simulations and vascular model experiments are carried out to demonstrate the feasibility and accuracy of the proposed controller.
Results
The designed cardiovascular interventional robot is flexible to enter the target vessel branch. Experimental results indicate that the proposed controller can effectively improve the delivery accuracy of the guidewire and reduce the contact force with the vessel wall.
Conclusions
The proposed controller based on radial basis function neural network and admittance control is effective in improving delivery accuracy and reducing contact force. The algorithm needs to be further validated in vivo experiments.
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Funding
This work was supported in part by the National Natural Science Foundation of China (Grant 62133009, Grant 61973211, and Grant M-0221), in part by the Science and Technology Commission of Shanghai Municipality (Grant 21550714200 and Grant 20DZ2220400), in part by the project of Institute of Medical Robotics of Shanghai Jiao Tong University, in part by the Foreign Cooperation Project of Fujian Province Science and Technology Program (No. 2022I0041), in part by the project of Quanzhou High-level Talent Innovation and Entrepreneurship (No. 2021C003R), in part by the Cooperation Project of Xuhui District Artificial Intelligence Medical Institute (No. 2021-008), and in part by the Joint Project of Xinhua Hospital-Institute of Medical Robotics of Shanghai Jiao Tong University (No. 21XJMR03).
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Wang, S., Liu, Z., Cao, Y. et al. Improved precise guidewire delivery of a cardiovascular interventional surgery robot based on admittance control. Int J CARS 19, 209–221 (2024). https://doi.org/10.1007/s11548-023-03017-7
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DOI: https://doi.org/10.1007/s11548-023-03017-7