Development of an Intuitive Interface with Haptic Enhancement for Robot-Assisted Endovascular Intervention.

Robot-assisted endovascular intervention has the potential to reduce radiation exposure to surgeons and enhance outcomes of interventions. However, the success and safety of endovascular interventions depend on surgeons' ability to accurately manipulate endovascular tools such as guidewire and catheter and perceive their safety when cannulating patient's vessels. Currently, the existing interventional robots lack a haptic system for accurate force feedback that surgeons can rely on.

Endovascular Tool Segmentation with Multi-lateral Branched Network during Robot-assisted Catheterization.

Robot-assisted catheterization is routinely carried out for intervention of cardiovascular diseases. Meanwhile, the success of endovascular tool navigation depends on visualization and tracking cues available in the robotic platform. Currently, real-time motion analytics are lacking, while poor illumination during fluoroscopy affects existing physics- and learning-based methods used for tool segmentation.

Guidewire Endpoint Detection Based on Pixel Adjacent Relation in Robot-assisted Cardiovascular Interventions.

Visualization of endovascular tools like guidewire and catheter is essential for procedural success of endovascular interventions. This requires tracking the tool pixels and motion during catheterization; however, detecting the endpoints of the endovascular tools is challenging due to their small size, thin appearance, and flexibility. As this still limit the performances of existing methods used for endovascular tool segmentation, predicting correct object location could provide ways forward.

Technical and Clinical Progress on Robot-Assisted Endovascular Interventions: A Review.

Prior methods of patient care have changed in recent years due to the availability of minimally invasive surgical platforms for endovascular interventions. These platforms have demonstrated the ability to improve patients' vascular intervention outcomes, and global morbidities and mortalities from vascular disease are decreasing. Nonetheless, there are still concerns about the long-term effects of exposing interventionalists and patients to the operational hazards in the cath lab, and the perioperative risks that patients undergo.

Automatic tool segmentation and tracking during robotic intravascular catheterization for cardiac interventions.

Background: Cardiovascular diseases resulting from aneurism, thrombosis, and atherosclerosis in the cardiovascular system are major causes of global mortality. Recent treatment methods have been based on catheterization of flexible endovascular tools with imaging guidance. While advances in robotic intravascular catheterization have led to modeling tool navigation approaches with data sensing and feedback, proper adaptation of image-based guidance for robotic navigation requires the development of sensitive segmentation and tracking models without specificity loss.

Motion and Trajectory Constraints Control Modeling for Flexible Surgical Robotic Systems.

Success of the da Vinci surgical robot in the last decade has motivated the development of flexible access robots to assist clinical experts during single-port interventions of core intrabody organs. Prototypes of flexible robots have been proposed to enhance surgical tasks, such as suturing, tumor resection, and radiosurgery in human abdominal areas; nonetheless, precise constraint control models are still needed for flexible pathway navigation. In this paper, the design of a flexible snake-like robot is presented, along with the constraints model that was proposed for kinematics and dynamics control, motion trajectory planning, and obstacle avoidance during motion.