A novel noncontact detection method of surgeon's operation for a master-slave endovascular surgery robot.
Master-slave endovascular interventional surgery (EIS) robots have brought revolutionary advantages to traditional EIS, such as avoiding X-ray radiation to the surgeon and improving surgical precision and safety. However, the master controllers of most of the current EIS robots always lead to bad hu...
| Publicado en: | Medical & Biological Engineering & Computing Vol. 58; no. 4; pp. 871 - 886 |
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| Autores principales: | , , , , , , , , , |
| Formato: | Journal Article |
| Publicado: |
Springer Nature
Apr2020
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| Acceso en línea: | Ver este registro en EBSCOhost |
| fields | @attributes: recordID: 1 pdfLink: plink: https://search.ebscohost.com/login.aspx?direct=true&db=ccm&AN=142718797&site=ehost-live header: @attributes: shortDbName: ccm uiTerm: 142718797 longDbName: CINAHL Complete uiTag: AN controlInfo: bkinfo: dissinfo: jinfo: jid: 01400118 PO0 jtl: Medical & Biological Engineering & Computing issn: 01400118 maglogo: N pubinfo: dt: Apr2020 vid: 58 iid: 4 pid: 237 pub: Springer Nature place: New York, New York artinfo: ui: 142718797 142718797 NLM32077011 10.1007/s11517-020-02143-7 NLM32077011 142718797 ppf: 871 ppct: 15 formats: fmt: – @attributes: type: T – @attributes: type: P tig: atl: A novel noncontact detection method of surgeon's operation for a master-slave endovascular surgery robot. aug: au: Zhao, Yan Xing, Huiming Guo, Shuxiang Wang, Yuxin Cui, Jinxin Ma, Youchun Liu, Yu Liu, Xinke Feng, Junqiang Li, Youxiang affil: School of Mechanical Engineering, Hebei University of Technology, No.5340 Rd. Xiping, Beichen District, 300401, Tianjin, China sug: subj: Robotic Surgical Procedures Equipment and Supplies Robotic Surgical Procedures Methods Vascular Access Devices Algorithms Equipment Design Surgeons Clinical Assessment Tools ab: Master-slave endovascular interventional surgery (EIS) robots have brought revolutionary advantages to traditional EIS, such as avoiding X-ray radiation to the surgeon and improving surgical precision and safety. However, the master controllers of most of the current EIS robots always lead to bad human-machine interaction, because of the difference in nature between the rigid operating handle and the flexible medical catheter used in EIS. In this paper, a noncontact detection method is proposed, and a novel master controller is developed to realize real-time detection of surgeon's operation without interference to the surgeon. A medical catheter is used as the operating handle. It is enabled by using FAST corner detection algorithm and optical flow algorithm to track the corner points of the continuous markers on a designed sensing pipe. A mathematical model is established to calculate the axial and rotational motion of the sensing pipe according to the moving distance of the corner points in image coordinates. A master-slave EIS robot system is constructed by integrating the proposed master controller and a developed slave robot. Surgical task performance evaluation in an endovascular evaluator (EVE) is conducted, and the results indicate that the proposed detection method breaks through the axial measuring range limitation of the previous marker-based detection method. In addition, the rotational detection error is reduced by 92.5% compared with the previous laser-based detection method. The results also demonstrate the capability and efficiency of the proposed master controller to control the slave robot for surgical task implementation. Graphical abstract A novel master controller is developed to realize real-time noncontact detection of surgeon's operation without interference to the surgeon. The master controller is used to remotely control the slave robot to implement certain surgical tasks. pubtype: Academic Journal doctype: Journal Article ougenre: Article language: English refInfo: holdings: @attributes: islocal: N |
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