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

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Abstract
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.
Author(s)
최주은박상은김영학문영진최재순
Issued Date
2021
Type
Article
Keyword
coronary vascular intervention robot assist guidewire stent
DOI
10.3390/bios11090329
URI
https://oak.ulsan.ac.kr/handle/2021.oak/8932
https://ulsan-primo.hosted.exlibrisgroup.com/primo-explore/fulldisplay?docid=TN_cdi_doaj_primary_oai_doaj_org_article_b08695cd1dfa4625b5016daa4426dbdf&context=PC&vid=ULSAN&lang=ko_KR&search_scope=default_scope&adaptor=primo_central_multiple_fe&tab=default_tab&query=any,contains,A%20Vascular%20Intervention%20Assist%20Device%20Using%20Bi-Motional%20Roller%20Cartridge%20Structure%20and%20Clinical%20Evaluation&offset=0&pcAvailability=true
Publisher
BIOSENSORS-BASEL
Location
스위스
Language
영어
ISSN
2079-6374
Citation Volume
11
Citation Number
9
Citation Start Page
0
Citation End Page
0
Appears in Collections:
Engineering > Medical Engineering
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