A haptic guidance system for simulated catheter navigation with different kinaesthetic feedback profiles

IF 2.3 3区医学 Q2 SURGERY International Journal of Medical Robotics and Computer Assisted Surgery Pub Date : 2024-05-31 DOI:10.1002/rcs.2638

Taha Abbasi-Hashemi, Farrokh Janabi-Sharifi, Asim N. Cheema, Kourosh Zareinia

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Abstract

Background

This paper proposes a haptic guidance system to improve catheter navigation within a simulated environment.

Methods

Three force profiles were constructed to evaluate the system: collision prevention; centreline navigation; and a novel force profile of reinforcement learning (RL). All force profiles were evaluated from the left common iliac to the right atrium.

Results

Our findings show that providing haptic feedback improved surgical safety compared to visual-only feedback. If staying inside the vasculature is the priority, RL provides the safest option. It is also shown that the performance of each force profile varies in different anatomical regions.

Conclusion

The implications of these findings are significant, as they hold the potential to improve how and when haptic feedback is applied for cardiovascular intervention.

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用于模拟导管导航的触觉引导系统，具有不同的动觉反馈曲线。

背景：本文提出了一种在模拟环境中改善导管导航的触觉引导系统：方法：构建了三种力曲线来评估该系统：碰撞预防、中心线导航和强化学习（RL）的新型力曲线。我们对从左髂总动脉到右心房的所有力曲线进行了评估：结果：我们的研究结果表明，与纯视觉反馈相比，触觉反馈提高了手术安全性。如果在血管内进行手术是首要任务，那么 RL 就是最安全的选择。研究还表明，在不同的解剖区域，每种力谱的性能都有所不同：这些发现意义重大，因为它们有可能改善触觉反馈在心血管介入中的应用方式和时间。

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来源期刊

International Journal of Medical Robotics and Computer Assisted Surgery 医学-外科

CiteScore

4.50

自引率

12.00%

发文量

131

审稿时长

6-12 weeks

期刊介绍： The International Journal of Medical Robotics and Computer Assisted Surgery provides a cross-disciplinary platform for presenting the latest developments in robotics and computer assisted technologies for medical applications. The journal publishes cutting-edge papers and expert reviews, complemented by commentaries, correspondence and conference highlights that stimulate discussion and exchange of ideas. Areas of interest include robotic surgery aids and systems, operative planning tools, medical imaging and visualisation, simulation and navigation, virtual reality, intuitive command and control systems, haptics and sensor technologies. In addition to research and surgical planning studies, the journal welcomes papers detailing clinical trials and applications of computer-assisted workflows and robotic systems in neurosurgery, urology, paediatric, orthopaedic, craniofacial, cardiovascular, thoraco-abdominal, musculoskeletal and visceral surgery. Articles providing critical analysis of clinical trials, assessment of the benefits and risks of the application of these technologies, commenting on ease of use, or addressing surgical education and training issues are also encouraged. The journal aims to foster a community that encompasses medical practitioners, researchers, and engineers and computer scientists developing robotic systems and computational tools in academic and commercial environments, with the intention of promoting and developing these exciting areas of medical technology.