Remote Vascular Interventional Surgery Robotics: A Literature Review

Interventional doctors are exposed to radiation hazards during the operation and endure high work intensity. Remote vascular interventional surgery robotics is a hot research field that can not only protect the health of interventional doctors, but also improve accuracy and efficiency of surgeries. However, the current vascular interventional robots still have many shortcomings to be improved. This article introduces the mechanical structure characteristics of various fields of vascular interventional therapy surgical robots, discusses the current key features of vascular interventional surgical robotics in force sensing, haptic feedback, and control methods, summarizes current frontiers about autonomous surgery, long geographic distances remote surgery and MRI-compatible structures. Finally, combined with the current research status of vascular interventional surgery robots, this article analyzes the development directions and puts forward a vision for the future vascular interventional surgery robots.

Remote Vascular Interventional Surgery Robotics: A Review

Interventional doctors are exposed to radiation hazards during the operation and endure high work intensity. Remote vascular interventional surgery robotics is a hot research field that can not only protect the health of interventional doctors, but also improve accuracy and efficiency of surgeries. However, the current vascular interventional robots still have many shortcomings to be improved. This article introduces the mechanical structure characteristics of various fields of vascular interventional therapy surgical robots, discusses the current key features of vascular interventional surgical robotics in force sensing, haptic feedback, and control methods, summarizes current frontiers about autonomous surgery, long geographic distances remote surgery and MRI-compatible structures. Finally, combined with the current research status of vascular interventional surgery robots, this article analyzes the development directions and puts forward a vision for the future vascular interventional surgery robots.

ADRC-Based Control Method for the Vascular Intervention Master–Slave Surgical Robotic System

In vascular interventional surgery, surgeons operate guidewires and catheters to diagnose and treat patients with the assistance of the digital subtraction angiography (DSA). Therefore, the surgeon will be exposed to X-rays for extended periods. To protect the surgeon, the development of a robot-assisted surgical system is of great significance. The displacement tracking accuracy is the most important issue to be considered in the development of the system. In this study, the active disturbance rejection control (ADRC) method is applied to guarantee displacement tracking accuracy. First, the core contents of the proportional–integral–derivative (PID) and ADRC methods are analyzed. Second, comparative evaluation experiments for incremental PID and ADRC methods are presented. The results show that the ADRC method has better performance of than that of the incremental PID method. Finally, the calibration experiments for the ADRC control method are implemented using the master–slave robotic system. These experiments demonstrate that the maximum tracking error is 0.87 mm using the ADRC method, effectively guaranteeing surgical safety.