AI Article Synopsis
- - In aortic valve surgery, a robotic platform called ValveTech is used to replace damaged valves with artificial ones through a combination of teleoperation and endoscopic vision.
- - The system involves advanced technology that includes a force observer to monitor the manipulation forces and a hybrid mechanics approach for precise, autonomous valve positioning, achieving minimal positional errors.
- - Experiments show the ValveTech platform can enhance patient care and surgical outcomes, providing better delivery accuracy without needing sensors on the robotic tip, which simplifies its design.
Article Abstract
Aortic valve surgery is the preferred procedure for replacing a damaged valve with an artificial one. The ValveTech robotic platform comprises a flexible articulated manipulator and surgical interface supporting the effective delivery of an artificial valve by teleoperation and endoscopic vision. This article presents our recent work on force-perceptive, safe, semiautonomous navigation of the ValveTech platform prior to valve implantation. First, we present a force observer that transfers forces from the manipulator body and tip to a haptic interface. Second, we demonstrate how hybrid forward/inverse mechanics, together with endoscopic visual servoing, lead to autonomous valve positioning. Benchtop experiments and an artificial phantom quantify the performance of the developed robot controller and navigator. Valves can be autonomously delivered with a 2.0±0.5 mm position error and a minimal misalignment of 3.4±0.9°. The hybrid force/shape observer (FSO) algorithm was able to predict distributed external forces on the articulated manipulator body with an average error of 0.09 N. FSO can also estimate loads on the tip with an average accuracy of 3.3%. The presented system can lead to better patient care, delivery outcome, and surgeon comfort during aortic valve surgery, without requiring sensorization of the robot tip, and therefore obviating miniaturization constraints.
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Source |
|---|---|
| http://www.ncbi.nlm.nih.gov/pmc/articles/PMC7615540 | PMC |
| http://dx.doi.org/10.1109/TRO.2023.3315966 | DOI Listing |
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