The Fundamental Research on a Surgical Robot for Minimally Invasive Vascular Surgery
Abstract：The wide application of minimally invasive vascular surgery is limited by some theoretical and engineering problems, such as, the difficulty of modeling the interaction between surgical instruments and blood vessel, high requirements for medical doctors, lack of effective safety solution for doctor to avoid radiation damage and the absence of image guided navigation, which are all urgent for us to solve these problems. This proposal mainly focuses on how to model the interaction of instruments-vessel-blood flow, how to achieve highly efficient master-slave manipulation, how to navigate in interventional procedure, how to adopt the experience of expert into the surgical robot, and how to evaluate the effectiveness of the surgical robot. This proposal aims to find out a way to model the surgical instruments, measure the force/torque during guide wire advancing and feed it back to remote doctor, real time track the tip’s location in blood vessel, acquire the manipulation skills from experienced doctors, and achieve autonomous guide wire delivery. The proposal is discussed around two main topics, one is how to realize highly efficient master-slave manipulation, and another is how to make the surgical robot smart enough to automatically advance surgical instruments to lesion site of blood vessel. A surgical robot will be developed to verify the effectiveness of this research by animal trials, then evaluation parameters of this kind of surgical robot will be established. The achievements of this research will promote the development and application of surgical robots in vascular intervention.
Keywords: surgical robot; vascular intervention; interaction of interventional tools, tissues, and blood flow; transparency of master/slave manipulation; surgery navigation
Contact:
HOU Zengguang
E-mail: zengguang.hou@ia.ac.cn
The State Key Laboratory of Management and Control for Complex Systems