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An intuitive guidewire control mechanism for robotic intervention. | LitMetric

An intuitive guidewire control mechanism for robotic intervention.

Int J Comput Assist Radiol Surg

Mechanical and Materials Engineering, Worcester Polytechnic Institute, Worcester, MA, USA.

Published: October 2024

AI Article Synopsis

  • Teleoperated Interventional Robotic systems (TIRs) aim to reduce radiation exposure for physicians and improve accuracy, but their adoption is hindered by control interfaces that are not intuitive compared to traditional methods.
  • The research introduces a new control mechanism using an enhanced torque device paired with real-time motion mapping, designed to preserve the tactile feedback and muscle memory that interventionalists rely on.
  • Testing showed a low tracking error with the new interface, and though slightly larger and heavier than traditional devices, it offers a more intuitive solution that could lead to broader acceptance of robotic assistance in medical procedures.

Article Abstract

Purpose: Teleoperated Interventional Robotic systems (TIRs) are developed to reduce radiation exposure and physical stress of the physicians and enhance device manipulation accuracy and stability. Nevertheless, TIRs are not widely adopted, partly due to the lack of intuitive control interfaces. Current TIR interfaces like joysticks, keyboards, and touchscreens differ significantly from traditional manual techniques, resulting in a shallow, longer learning curve. To this end, this research introduces a novel control mechanism for intuitive operation and seamless adoption of TIRs.

Methods: An off-the-shelf medical torque device augmented with a micro-electromagnetic tracker was proposed as the control interface to preserve the tactile sensation and muscle memory integral to interventionalists' proficiency. The control inputs to drive the TIR were extracted via real-time motion mapping of the interface. To verify the efficacy of the proposed control mechanism to accurately operate the TIR, evaluation experiments using industrial grade encoders were conducted.

Results: A mean tracking error of 0.32 ± 0.12 mm in linear and 0.54 ± 0.07° in angular direction were achieved. The time lag in tracking was found to be 125 ms on average using pade approximation. Ergonomically, the developed control interface is 3.5 mm diametrically larger, and 4.5 g. heavier compared to traditional torque devices.

Conclusion: With uncanny resemblance to traditional torque devices while maintaining results comparable to state-of-the-art commercially available TIRs, this research successfully provides an intuitive control interface for potential wider clinical adoption of robot-assisted interventions.

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Source
http://dx.doi.org/10.1007/s11548-024-03279-9DOI Listing

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