Cardiac X-ray image-based haptic guidance for robot-assisted coronary intervention: a feasibility study.

Purpose: Effective and efficient haptic guidance is desirable for tele-operated robotic surgery because it has a potential to enhance surgeon's skills, especially in coronary interventions where surgeon loses both an eye-hand coordination and a direct sight to the organ. This paper proposes a novel haptic guidance procedure-both kinesthetic and cutaneous, which solely depends upon X-ray images, for tele-robotic system that assists an efficient navigation of the guidewire towards the target location during a coronary intervention.

Methods: Proposed methodology requires cardiologists to draw virtual fixtures (VFs) on angiograms as a preoperative procedure.