A Master-Follower Teleoperation System for Robotic Catheterisation: Design, Characterisation and Tracking Control

IF 2.3 3区医学 Q2 SURGERY

International Journal of Medical Robotics and Computer Assisted Surgery Pub Date : 2025-05-07 DOI:10.1002/rcs.70073

Ali A. Nazari, Jeremy Catania, Soroush Sadeghian, Amir Jalali, Houman Masnavi, Farrokh Janabi-Sharifi, Kourosh Zareinia

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引用次数: 0

Abstract

Background

Over the past 2 decades, telerobotic systems with robot-mediated, minimally invasive techniques, have mitigated radiation exposure for medical staff and extended medical services to remote areas. To enhance these services, master-follower telerobotic systems should offer transparency, enabling surgeons and clinicians to feel force interactions similar to those the follower device experiences with patients' bodies.

Methods

We present a three-degree-of-freedom master-follower teleoperated system for robotic catheterisation. The follower device uses a grip-insert-release mechanism to prevent catheter buckling and torsion, mimicking real-world manual intervention. Performance is evaluated through open-loop path tracking on circular, infinity-like and spiral paths.

Results

Path tracking errors, mean Euclidean error (MEE) and mean absolute error (MAE), range from 0.64 to 1.53 cm (MEE) and 0.81–1.92 cm (MAE) for different paths.

Conclusion

While the system meets precision and accuracy targets with an open-loop controller, closed-loop control is needed to address catheter hysteresis, dead zones and nonlinearities.

Abstract Image

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机器人导尿的主从远程操作系统：设计、表征和跟踪控制

在过去的20年里，采用机器人介导的微创技术的遥控机器人系统减轻了医务人员的辐射暴露，并将医疗服务扩展到偏远地区。为了增强这些服务，主-跟随远程机器人系统应该提供透明度，使外科医生和临床医生能够感受到类似于跟随装置与患者身体之间的力量相互作用。方法提出了一种三自由度的主从远程操作机器人导尿系统。跟随器装置采用夹紧-插入-释放机制，以防止导管屈曲和扭转，模拟现实世界的人工干预。性能评估通过开环路径跟踪在圆形，无限和螺旋路径。结果不同路径的路径跟踪误差、平均欧氏误差（MEE）和平均绝对误差（MAE）分别为0.64 ~ 1.53 cm和0.81 ~ 1.92 cm。结论采用开环控制器可以满足精度和精度要求，但需要采用闭环控制来解决导管滞回、死区和非线性等问题。

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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.