Development of a novel robotic catheter system for endovascular minimally invasive surgery

2011 IEEE/ICME International Conference on Complex Medical Engineering, CME 2011

Volumn , Issue , 2011, Pages 400-405

  Fu, Yili ^a   Gao, Anzhu ^a   Liu, Hao ^a   Li, Kai ^a   Liang, Zhaoguang ^b  

^a HARBIN INSTITUTE OF TECHNOLOGY   (China)

^b HARBIN MEDICAL UNIVERSITY   (China)

Author keywords

3D guiding image; Endovascular minimally invasive surgery; interventional mechanism; robotic catheter system; steerable catheter

Indexed keywords

3D GUIDING IMAGE; COLLISION TESTS; ENDOVASCULAR; FORCE FEEDBACK; INTERACTIVITY; INTERVENTIONAL; MAGNETIC TRACKING; MASTER SLAVE CONTROL; MASTER-SLAVE; MINIMALLY INVASIVE SURGERY; RADIATION INJURY; STEERABLE CATHETER; TARGET POINT; X RAY RADIATION;

BIOMEDICAL ENGINEERING; CATHETERS; OIL TANKERS; OPERATING ROOMS; ROBOTS; SURGERY; THREE DIMENSIONAL;

ROBOTICS;

EID: 79959963982     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/ICCME.2011.5876772     Document Type: Conference Paper

References (22)

1. T. Fukuda, S. Guo, K. Kosuge, et al, "Micro active catheter system with multi degrees of freedom," IEEE International Conference on Robotics and Automation, 1994: 2290-2295.
2. Y. Haga, Y. Tanahashi and M. Esashi, "Small diameter active catheter using shape memory alloy," The Eleventh Annual International Workshop on Micro Electro Mechanical Systems, 1998: 419-424
3. http://www.stereotaxis.com/index.php.
4. J. Driller, "Kinetics of Magnetically Guided Catheters," IEEE Transactions on Magnetics, 1970, 6(3): 467-471.
5. Y. Ganji and F. Janabi-Sharifi, "Catheter kinematics for intracardiac navigation," IEEE Transactions on Biomedical Engineering, 2009, 56(3): 621-631.
6. http://www.hansenmedical.com/products/artisan.aspx.
7. K. Ikuta, H. Ichikawa, K. Suzuki, et al, "Multi-degree of Freedom Hydraulic Pressure Driven Safety Active Catheter," IEEE International Conference on Robotics and Automation, 2006: 4161-4166. (Pubitemid 44940705)
8. M. Ikeuchi, K. Ikuta, "Membrane micro emboss following excimer laser ablation (MeME-X) process for pressure-driven micro active catheter," IEEE 21st International Conference on Micro Electro Mechanical Systems, 2008: 62-65.
9. B.K. Fang, M.S. Ju and C. Lin, "A new approach to develop ionic polymer-metal composites (IPMC) actuator- Fabrication and control for active catheter systems," Sensors and Actuators, 2007: 321-329. (Pubitemid 46907534)
10. W.J. Yoon, P.G. Reinhall and E.J. Seibel, "Analysis of electro-active polymer bending: A component in a low cost ultrathin scanning endoscope," Sensors and Actuators: A. Physical, 2007, 133(2): 506-517. (Pubitemid 46162152)
11. W. Feng, C. Chi and H. Wang, "Highly Precise Catheter Driving Mechanism for Intravascular Neurosurgery," IEEE International Conference on Mechatronics and Automation, 2006: 990-995. (Pubitemid 46604447)
12. J. Wang, H. Kondo and J. Guo, "A Force Sensors-based Catheter Operating System," International Conference on Mechatronics and Automation, 2007: 1044-1049. (Pubitemid 350244778)
13. F. Arai, R. Fujimura, T. Fukuda, et al, "New catheter driving method using linear stepping mechanism for intravascular neurosurgery," IEEE International Conference on Robotics and Automation, 2002: 2944-2949. (Pubitemid 34916333)
14. C. Tercero, S. Ikeda, T. Uchiyama, et al, "Autonomous catheter insertion system using magnetic motion capture sensor for endovascular surgery," The International Journal of Medical Robotics and Computer Assisted Surgery, 2007, 3(1): 52-58. (Pubitemid 46732472)
15. J. Jayender, R.V. Patel and S. Nikumb, "Robot-assisted catheter insertion using hybrid impedance control," IEEE International Conference on Robotics and Automation, 2006: 607-612. (Pubitemid 44940140)
16. S. Ramcharitar, M.S. Patterson, R.J. Geuns, et al, "Technology Insight: magnetic navigation in coronary interventions," Nature Clinical Practice Cardiovascular Medicine, 2008, 5: 148-156.
17. N. E. Green, S.-Y. J. Chen, A. R. Hansgen, et al, "Angiographic views used for percutaneous coronary interventions: a three dimensional analysis of physician-determined vs. computer-generated views," Catheterization and Cardiovascular Interventions, 2005, 64: 451-459.
18. K.S. Rhode, M. Sermesant, D.Brogan, et al, "A system for real-time XMR guided cardiovascular intervention," IEEE Transactions on Medical Imaging, 2005, 24(11): 1428-1440. (Pubitemid 41619220)
19. P. Markelj, D. Tomazevic, F. Pernus, et al, "Robust gradient-based 3-D/2-D registration of CT and MR to X-ray images," IEEE Transactions on Medical Imaging, 2008, 27(12): 1704-1714.
20. Y. Fu., H. Liu, S. Wang, et al, "Skeleton based active catheter navigation," The International Journal of Medical Robotics and Computer Assisted Surgery, 2009, 5(2): 125-135.
21. H. Liu, Y. Fu, Y. Zhou, et al, "In vitro investigation of image-guided steerable catheter navigation," Proceedings of the Institution of Mechanical Engineers, Part H, Journal of Engineering in Medicine, 2010,224(8): 945-954.
22. P.J. Besl, N.D. McKay, "A Method for Registration of 3D shapes," IEEE Transactions on Pattern Analysis and Machine Intelligence, 1992, 14: 239-256.