Intuitive Control Strategies for Teleoperation of Active Catheters in Endovascular Surgery

A. Devreker, P. T. Tran, Benoît Rosa, H. Praetere, Nicolai Häni, N. Famaey, D. Seatovic, P. Herijgers, J. Sloten, D. Reynaerts, E. V. Poorten
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引用次数: 4

Abstract

Cardiovascular surgeons increasingly resort to catheter-based diagnostic and therapeutic interventions because of their limited invasiveness. Although, these approaches allow treatment of patients considered unfit for conventional open surgery, exposure to radiation and high procedural complexity could lead to complications. These factors motivated the introduction of robotic technology offering more dexterous catheters, enhanced visualization and opening new possibilities in terms of guidance and coordinated control. In addition to improvements of patient outcome, through teleoperated catheter control radiation exposure of surgeons can be reduced. In order to limit surgical workload, intuitive mappings between joystick input and resulting catheter motion are essential. This paper presents and compares two proposed mappings and investigates the benefits of additional visual guidance. The comparison is based on data gathered during an experimental campaign involving 14 novices and three surgeons. The participants were asked to perform an endovascular task in a virtual reality simulator presented in the first part of this paper. Statistical results show significant superiority of one mapping with respect to the other and a significant improvement of performance thanks to additional visual guidance. Future work will focus on translating the results to a physical setup for surgical validation, also the learning effect will be analyzed more in-depth.
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血管内手术中活动导管遥操作的直观控制策略
心血管外科医生越来越多地求助于基于导管的诊断和治疗干预,因为它们的侵入性有限。虽然这些方法可以治疗不适合传统开放手术的患者,但暴露于辐射和高度的程序复杂性可能导致并发症。这些因素推动了机器人技术的引入,提供了更灵巧的导管,增强了可视化,并在引导和协调控制方面开辟了新的可能性。除了改善患者预后外,通过远程操作导管控制可以减少外科医生的辐射暴露。为了限制手术工作量,操纵杆输入和由此产生的导管运动之间的直观映射是必不可少的。本文提出并比较了两种建议的映射,并研究了附加视觉引导的好处。这一对比是基于一项涉及14名新手和3名外科医生的实验活动中收集的数据。参与者被要求在本文第一部分介绍的虚拟现实模拟器中执行血管内任务。统计结果表明,一种映射相对于另一种映射具有显着的优越性,并且由于额外的视觉引导,性能得到了显着改善。未来的工作将侧重于将结果转化为手术验证的物理设置,并且将更深入地分析学习效果。
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