scholarly journals A Vascular Intervention Assist Device Using Bi-Motional Roller Cartridge Structure and Clinical Evaluation

Biosensors ◽  
2021 ◽  
Vol 11 (9) ◽  
pp. 329
Author(s):  
Jueun Choi ◽  
Sangeun Park ◽  
Young-Hak Kim ◽  
Youngjin Moon ◽  
Jaesoon Choi
Keyword(s):  
Force Feedback ◽  
Animal Experiments ◽  
Robotic System ◽  
Assist Device ◽  
Vascular Intervention ◽  
Accuracy And Precision ◽  
Percutaneous Coronary ◽  
Patient Side ◽  
Simultaneous Translation ◽  
Guiding Catheter

Conventional vascular intervention procedures present issues including X-ray exposure during operation, and an experience-dependent success rate and clinical outcome. This paper presents a novel robotic system using modularized bi-motional roller cartridge assemblies for robotic vascular interventions, specifically percutaneous coronary interventions (PCIs). The patient-side robot manipulates instruments such as the guiding catheter, guidewire, balloon/stent catheter, and diagnostic sensor catheter via commands from the user interface device, which is controlled by the physician. The proposed roller cartridge assembly can accommodate instruments of various sizes with an active clamping mechanism, and implements simultaneous translation and rotation motions. It also implements force feedback in the physician-side system, to effectively monitor the patient-side system’s status. The positioning accuracy and precision in using the robotic system showed satisfactory performance in a phantom-based test. It was also confirmed, through animal experiments and a pilot clinical trial, that the system demonstrates feasibility for clinical use.

scholarly journals Application Study of Vascular Interventional Robotic Mechanism for Remote Steering

2011 ◽  
Vol 5 (1) ◽  
pp. 46-49 ◽  
Author(s):  
Zengmin Tian ◽  
Bo Jia ◽  
Wangsheng Lu ◽  
Rui Hui
Keyword(s):  
Force Feedback ◽  
Animal Experiments ◽  
Operation Time ◽  
Interventional Therapy ◽  
Steering System ◽  
Robotic System ◽  
Feedback Systems ◽  
Robot System ◽  
Glass Vessel

Background: Recently, robotic systems have been introduced as a useful method for surgical procedures. But in the field of vascular interventional therapy, the development of robotic system is slower. Objective: The purpose of the study is to verify the reliability and safety of vascular interventional robotic system used in angiography, by the way of in vitro preliminary experiments and animal experiments. Method: The approach is to employ a proprietary vascular interventional robot system to complete glass vessel models and animal angiogram experiments. This robot system consists of a console port (remote steering system), an assistant port (propelled and rotation system) and a hydraulic fixing device, upon which surgeons control remotely to make go forward and rotate in the glass vessel models and animal vessels, on the 3D operation interface. Consequently, the operation time and success rate are counted and evaluated. Result: In the glass vessel model experiments, the Catheter can enter various kinds of vessel models with inside diameter length greater than 3mm and angle less than 90o. In the animal (adult dogs) experiments, surgeons can accomplish smoothly the angiogram of the renal artery, the vertebral renal and the arteria carotis communis, without any complications of surgery. Conclusion: The angiogram by using vascular interventional robot system is safe and reliable. Surgeons can finish the angiogram in part by remote operation, and the result of angiogram can meet a number of simple expectations. However without wire control and force feedback systems, the applicability of this kind of robot system is not flexible enough and need to be improved in the future.

scholarly journals In Vivo Usability Test of Vascular Intervention Robotic System Controlled by Two Types of Master Devices

2021 ◽  
Vol 11 (12) ◽  
pp. 5453
Author(s):  
Hwa-Seob Song ◽  
Jae-Hong Woo ◽  
Jong-Yun Won ◽  
Byung-Ju Yi
Keyword(s):  
Radiation Exposure ◽  
Animal Experiments ◽  
X Rays ◽  
Physical Damage ◽  
Vascular Intervention ◽  
Task Load ◽  
Usability Test ◽  
Usability Tests ◽  
System Usability Scale

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.

scholarly journals Guiding catheter inner lumen damage during percutaneous coronary intervention

2021 ◽  
Vol 9 (8) ◽  
Author(s):  
Azriel Osherov ◽  
Jamal Jafari ◽  
Chaim Yosefy ◽  
Enrique Gallego‐Colon
Keyword(s):  
Percutaneous Coronary Intervention ◽  
Coronary Intervention ◽  
Percutaneous Coronary ◽  
Guiding Catheter

scholarly journals Comparison of IV oncology infusions compounded via robotics and gravimetrics-assisted workflow processes

2020 ◽  
Vol 78 (2) ◽  
pp. 122-134
Author(s):  
Bob Pang ◽  
Marc Earl ◽  
Scott Knoer ◽  
Angela Yaniv ◽  
Marc Willner ◽  
...  
Keyword(s):  
Robotic System ◽  
Lower Percentage ◽  
Preparation Time ◽  
Employee Safety ◽  
Systems Implementation ◽  
Technology Platforms ◽  
Accuracy And Precision ◽  
Significant Difference ◽  
Primary Driver ◽  
Drug Waste

Abstract Purpose A study was conducted to compare an intravenous (IV) gravimetric technology–assisted workflow (TAWF) platform to an IV robotic system. In the study we reviewed both IV technology platforms using the same gravimetric quality assurance system, which allowed for direct comparison. Methods All oncology preparations compounded from January 2016 through December 2018 using either system were included in our retrospective analysis. Final preparation accuracy, IV system precision, and workflow throughput (analyzed using lean process methodologies) were evaluated. Results Data analysis indicated that use of the IV gravimetric TAWF system was associated with a significantly lower percentage of accuracy errors compared to the IV robotics system (1.58% vs 2.47%, P < 0.001), with no significant difference in absolute precision (1.12 vs 1.12 P = 0.952). Lean analysis demonstrated that overall completion time (17:49 minutes vs 24:45 minutes) and compound preparation time (2:39 minutes vs 6:07 minutes) were less with the IV gravimetric TAWF vs the IV robotics system. Conclusion Implementation of either an IV gravimetric TAWF system or IV robotics system will result in similar compounding accuracy and precision. Preparation time was less with use of the IV gravimetric TAWF vs the IV robotic system, but the IV robotic system required less human intervention. Both systems ensure medication safety for patients, although the IV robotic system has increased safeguards in place. Therefore, the primary driver for implementing these systems is alternative factors such as cost of systems implementation and maintenance, employee safety, and drug waste.

scholarly journals Performance Analysis of a Novel Hydrophilic-Coated Transradial Guiding Catheter

2021 ◽  
Vol 4 (4) ◽  
pp. 01-06
Author(s):  
A.J.J. IJsselmuiden
Keyword(s):  
Coronary Intervention ◽  
Complication Rates ◽  
Stent Deployment ◽  
Coronary Syndrome ◽  
Timi Grade ◽  
Cerebrovascular Events ◽  
Percutaneous Coronary ◽  
Procedural Success ◽  
Grade 3 ◽  
Guiding Catheter

Aim: The transradial approach (TRA) has taken an upswing, however access-site complications still exist. The choice of potentially less traumatic materials may minimize these complications. This article describes the use of a hydrophilic-coated 6F guiding catheter for diagnostic and interventional procedures and upper extremity dysfunction following these procedures. Materials and Methods: This prospective observational study enrolled 217 patients who underwent elective transradial percutaneous coronary intervention (TR-PCI) for stable and unstable angina, or acute coronary syndrome between May 2014 and November 2016. All patients were treated using a 6F hydrophilic-coated guiding catheter (PRIMUM, PendraCare, Wellinq, the Netherlands). Catheter performance was assessed on a five-point scale ranging from very bad to very good. Procedure safety was assessed using the Major cardiac and cerebrovascular events (MACCE) criteria. Results: The average number of guiding catheters used was 1.2 per patient. Overall performance of the catheters was rated Average/Good. Procedural success, defined as TIMI grade 3 flow and successful stent deployment, with a residual diameter stenosis of <25%, was 97.7%. MACCE occurred in 1.5% during the 6-months of follow-up. Conclusion: These data indicate that the use of a hydrophilic-coated guiding catheter to perform percutaneous coronary interventions is safe and effective, with high procedural success and low complication rates. In addition, the short and long-term MACCE outcomes of the PCI were favorable.

Design of a novel robotic system for minimally invasive surgery

2017 ◽  
Vol 44 (3) ◽  
pp. 288-298 ◽  
Author(s):  
Yue Ai ◽  
Bo Pan ◽  
Yili Fu ◽  
Shuguo Wang
Keyword(s):  
Minimally Invasive Surgery ◽  
Minimally Invasive ◽  
Invasive Surgery ◽  
Control Method ◽  
Animal Experiments ◽  
Robotic System ◽  
Robot Assisted ◽  
Content Type ◽  
Hand Eye Coordination ◽  
Control System Architecture

Purpose Robot-assisted system for minimally invasive surgery (MIS) has been attracting more and more attentions. Compared with a traditional MIS, the robot-assisted system for MIS is able to overcome or reduce defects, such as poor hand-eye coordination, heavy labour intensity and limited motion of the instrument. The purpose of this paper is to design a novel robotic system for MIS applications. Design/methodology/approach A robotic system with three separate slave arms for MIS has been designed. In the proposed robot, a new mechanism was designed as the remote centre motion (RCM) mechanism to restrain the movement of instrument or laparoscope around the incision. Moreover, an improved instrument without coupling motion between wrist and grippers was developed to enhance its manipulability. A control system architecture was also developed, and an intuitive control method was applied to realize hand-eye coordination of the operator. Findings For the RCM mechanism, the workspace was analyzed and the positioning accuracy of the remote centre point was tested. The results show that the RCM mechanism can be applied to MIS. Furthermore, the master-slave trajectory tracking experiments reveal that slave robots are able to follow the movement of the master manipulators well. Finally, the feasibility of the robot-assisted system for MIS is proved by performing animal experiments successfully. Originality/value This paper offers a novel robotic system for MIS. It can accomplish the anticipated results.

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