Autonomous catheter insertion system using magnetic motion capture sensor for endovascular surgery.
Int J Med Robot
; 3: 52-8, 2007 Mar.
Article
en En
| MEDLINE
| ID: mdl-17441026
ABSTRACT
BACKGROUND:
In order to reduce fluoroscope usage in endovascular surgery, there is a need to develop autonomous catheter insertion systems.METHODS:
We propose a system for tracking the position and speed of a catheter using a magnetic motion capture sensor to provide feedback to a catheter-driving mechanism, to perform autonomous catheter insertion in major vasculature. Catheter insertion speed control and path reconstruction experiments were performed with the system inside a silicone model of major vasculature to simulate surgery.RESULTS:
The system controlled the catheter for speeds of 6.14 mm/s and reproduced a two-dimensional path inside the silicone blood vessel phantom with less than 7 mm of error.CONCLUSIONS:
We found that error in speed control rises as a result of friction between the catheter and the model wall. Path reconstruction error depends on the model's cross-sectional diameter, the properties of the catheter insertion mechanism, the magnetic sensor and the system guidance technique.
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Colección:
01-internacional
Asunto principal:
Procedimientos Quirúrgicos Vasculares
/
Robótica
/
Cateterismo
/
Cirugía Asistida por Computador
/
Magnetismo
Tipo de estudio:
Evaluation_studies
Idioma:
En
Revista:
Int J Med Robot
Año:
2007
Tipo del documento:
Article
País de afiliación:
Japón